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re-enable pybullet.getVisualShapeData for deformables

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(was broken in previous commit)
This commit is contained in:
Erwin Coumans
2020-09-13 15:08:42 -07:00
parent bd1bd36bc6
commit 9ae41971bc
6 changed files with 475 additions and 431 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+35
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@@ -8839,9 +8839,39 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
bodyHandle->m_softBody = psb;
psb->setUserIndex2(*bodyUniqueId);
b3VisualShapeData visualShape;
visualShape.m_objectUniqueId = *bodyUniqueId;
visualShape.m_linkIndex = -1;
visualShape.m_visualGeometryType = URDF_GEOM_MESH;
//dimensions just contains the scale
visualShape.m_dimensions[0] = scale;
visualShape.m_dimensions[1] = scale;
visualShape.m_dimensions[2] = scale;
//filename
strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN);
visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0;
//position and orientation
visualShape.m_localVisualFrame[0] = pos[0];
visualShape.m_localVisualFrame[1] = pos[1];
visualShape.m_localVisualFrame[2] = pos[2];
visualShape.m_localVisualFrame[3] = orn[0];
visualShape.m_localVisualFrame[4] = orn[1];
visualShape.m_localVisualFrame[5] = orn[2];
visualShape.m_localVisualFrame[6] = orn[3];
//color and ids to be set by the renderer
visualShape.m_rgbaColor[0] = 0;
visualShape.m_rgbaColor[1] = 0;
visualShape.m_rgbaColor[2] = 0;
visualShape.m_rgbaColor[3] = 1;
visualShape.m_tinyRendererTextureId = -1;
visualShape.m_textureUniqueId = -1;
visualShape.m_openglTextureId = -1;
if (meshData.m_gfxShape)
{
int texUid1 = m_data->m_guiHelper->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
visualShape.m_openglTextureId = texUid1;
int shapeUid1 = m_data->m_guiHelper->registerGraphicsShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], meshData.m_gfxShape->m_numvertices, &meshData.m_gfxShape->m_indices->at(0), meshData.m_gfxShape->m_numIndices, B3_GL_TRIANGLES, texUid1);
psb->getCollisionShape()->setUserIndex(shapeUid1);
float position[4] = { 0,0,0,0 };
@@ -8854,8 +8884,10 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
if (m_data->m_enableTinyRenderer)
{
int texUid2 = m_data->m_pluginManager.getRenderInterface()->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
visualShape.m_tinyRendererTextureId = texUid2;
int linkIndex = -1;
int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->registerShapeAndInstance(
visualShape,
&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
&meshData.m_gfxShape->m_indices->at(0),
@@ -8928,6 +8960,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
}
int texId = m_data->m_guiHelper->registerTexture(&texels[0], texWidth, texHeight);
visualShape.m_openglTextureId = texId;
int shapeId = m_data->m_guiHelper->registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, texId);
b3Assert(shapeId >= 0);
psb->getCollisionShape()->setUserIndex(shapeId);
@@ -8935,8 +8968,10 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
{
int texUid2 = m_data->m_pluginManager.getRenderInterface()->registerTexture(&texels[0], texWidth, texHeight);
visualShape.m_tinyRendererTextureId = texUid2;
int linkIndex = -1;
int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->registerShapeAndInstance(
visualShape,
&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, texUid2,
psb->getBroadphaseHandle()->getUid(),
*bodyUniqueId,