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use white as default undefined color instead of the googley colors.

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use loadURDF(..., flags = pybullet.URDF_GOOGLEY_UNDEFINED_COLORS) to get Googley colors when colors are undefined.
This commit is contained in:
Erwin Coumans
2020-05-08 10:44:39 -07:00
parent daa0a27403
commit 8f380b3fd2
6 changed files with 25 additions and 13 deletions
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12
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -724,7 +724,14 @@ struct BulletMJCFImporterInternalData
}
{
geom.m_localMaterial.m_matColor.m_rgbaColor = sGoogleColors[linkIndex & 3];
if (m_flags & CUF_GOOGLEY_UNDEFINED_COLORS)
{
geom.m_localMaterial.m_matColor.m_rgbaColor = sGoogleColors[linkIndex & 3];
}
else
{
geom.m_localMaterial.m_matColor.m_rgbaColor.setValue(1, 1, 1, 1);
}
geom.m_localMaterial.m_matColor.m_specularColor.setValue(1, 1, 1);
geom.m_hasLocalMaterial = true;
}
@@ -1597,7 +1604,8 @@ bool BulletMJCFImporter::getLinkColor2(int linkIndex, struct UrdfMaterialColor&
if (!hasLinkColor)
{
matCol.m_rgbaColor = sGoogleColors[linkIndex & 3];
matCol.m_rgbaColor = (m_data->m_flags & CUF_GOOGLEY_UNDEFINED_COLORS) ? sGoogleColors[linkIndex & 3] : btVector4(1,1,1,1);
matCol.m_specularColor.setValue(1, 1, 1);
hasLinkColor = true;
}

19
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -21,12 +21,12 @@
//static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
static bool enableConstraints = true;
static btVector4 colors[4] =
{
btVector4(1, 0, 0, 1),
btVector4(0, 1, 0, 1),
btVector4(0, 1, 1, 1),
btVector4(1, 1, 0, 1),
static btVector4 gGoogleyColors[4] =
{
btVector4(60. / 256., 186. / 256., 84. / 256., 1),
btVector4(244. / 256., 194. / 256., 13. / 256., 1),
btVector4(219. / 256., 50. / 256., 54. / 256., 1),
btVector4(72. / 256., 133. / 256., 237. / 256., 1),
};
static btVector4 selectColor2()
@@ -36,7 +36,7 @@ static btVector4 selectColor2()
sMutex.lock();
#endif
static int curColor = 0;
btVector4 color = colors[curColor];
btVector4 color = gGoogleyColors[curColor];
curColor++;
curColor &= 3;
#ifdef BT_THREADSAFE
@@ -303,7 +303,8 @@ btTransform ConvertURDF2BulletInternal(
if (compoundShape)
{
UrdfMaterialColor matColor;
btVector4 color2 = selectColor2();
btVector4 color2 = (flags & CUF_GOOGLEY_UNDEFINED_COLORS) ? selectColor2() : btVector4(1, 1, 1, 1);
btVector3 specular(0.5, 0.5, 0.5);
if (u2b.getLinkColor2(urdfLinkIndex, matColor))
{
@@ -642,7 +643,7 @@ btTransform ConvertURDF2BulletInternal(
}
world1->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
btVector4 color2 = selectColor2(); //(0.0,0.0,0.5);
btVector4 color2 = (flags & CUF_GOOGLEY_UNDEFINED_COLORS) ? selectColor2() : btVector4(1, 1, 1, 1);
btVector3 specularColor(1, 1, 1);
UrdfMaterialColor matCol;
if (u2b.getLinkColor2(urdfLinkIndex, matCol))

1
examples/Importers/ImportURDFDemo/URDFJointTypes.h
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@@ -104,6 +104,7 @@ enum ConvertURDFFlags
CUF_IGNORE_VISUAL_SHAPES = 1 << 20,
CUF_IGNORE_COLLISION_SHAPES = 1 << 21,
CUF_PRINT_URDF_INFO = 1 << 22,
CUF_GOOGLEY_UNDEFINED_COLORS = 1 << 23,
};

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -931,6 +931,7 @@ enum eURDF_Flags
URDF_IGNORE_VISUAL_SHAPES = 1 << 20,
URDF_IGNORE_COLLISION_SHAPES = 1 << 21,
URDF_PRINT_URDF_INFO = 1 << 22,
URDF_GOOGLEY_UNDEFINED_COLORS = 1 << 23,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes

4
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -646,7 +646,7 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
delete glmesh;
}
static btVector4 sColors[4] =
static btVector4 sGoogleyColors[4] =
{
btVector4(60. / 256., 186. / 256., 84. / 256., 1),
btVector4(244. / 256., 194. / 256., 13. / 256., 1),
@@ -705,7 +705,7 @@ int TinyRendererVisualShapeConverter::convertVisualShapes(
colorIndex = 0;
colorIndex &= 3;
btVector4 color;
color = sColors[colorIndex];
color = (m_data->m_flags & URDF_GOOGLEY_UNDEFINED_COLORS) ? sGoogleyColors[colorIndex] : btVector4(1, 1, 1, 1);
float rgbaColor[4] = {(float)color[0], (float)color[1], (float)color[2], (float)color[3]};
//if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
//{

1
examples/pybullet/pybullet.c
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@@ -12773,6 +12773,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_IGNORE_VISUAL_SHAPES", URDF_IGNORE_VISUAL_SHAPES);
PyModule_AddIntConstant(m, "URDF_IGNORE_COLLISION_SHAPES",URDF_IGNORE_COLLISION_SHAPES);
PyModule_AddIntConstant(m, "URDF_PRINT_URDF_INFO", URDF_PRINT_URDF_INFO);
PyModule_AddIntConstant(m, "URDF_GOOGLEY_UNDEFINED_COLORS", URDF_GOOGLEY_UNDEFINED_COLORS);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_ENABLE_SLEEPING", eActivationStateEnableSleeping);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_DISABLE_SLEEPING", eActivationStateDisableSleeping);