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1e8f39b492
improve video_sync_mp4.py example
allow to create a heightfield from file or programmatically in C++ robotics api. Example:
{
b3RobotSimulatorCreateCollisionShapeArgs shapeArgs;
shapeArgs.m_shapeType = GEOM_HEIGHTFIELD;
bool useFile = true;
if (useFile)
{
shapeArgs.m_fileName = "D:/dev/bullet3/data/heightmaps/gimp_overlay_out.png";
shapeArgs.m_meshScale.setValue(.05, .05, 1);
}
else
{
shapeArgs.m_numHeightfieldColumns = 256;
shapeArgs.m_numHeightfieldRows = 256;
shapeArgs.m_meshScale.setValue(.05, .05, 1);
shapeArgs.m_heightfieldData.resize(shapeArgs.m_numHeightfieldRows * shapeArgs.m_numHeightfieldColumns);
double heightPerturbationRange = 0.05;
for (int j = 0; j<int(shapeArgs.m_numHeightfieldColumns / 2); j++)
{
for (int i = 0; i < (int(shapeArgs.m_numHeightfieldRows / 2)); i++)
{
double height = ((double)rand() / (RAND_MAX)) * heightPerturbationRange;
shapeArgs.m_heightfieldData[2 * i + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
shapeArgs.m_heightfieldData[2 * i + 1 + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
shapeArgs.m_heightfieldData[2 * i + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
shapeArgs.m_heightfieldData[2 * i + 1 + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
}
}
}
int shape = sim->createCollisionShape(shapeArgs.m_shapeType, shapeArgs);
b3RobotSimulatorCreateMultiBodyArgs bodyArgs;
bodyArgs.m_baseCollisionShapeIndex = shape;
int groundId = sim->createMultiBody(bodyArgs);
int texId = sim->loadTexture(shapeArgs.m_fileName);
b3RobotSimulatorChangeVisualShapeArgs args;
args.m_objectUniqueId = groundId;
args.m_linkIndex = -1;
args.m_textureUniqueId = texId;
sim->changeVisualShape(args);
}
33 lines
1.0 KiB
Python
33 lines
1.0 KiB
Python
import pybullet as p
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import time
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import pybullet_data
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#Once the video is recorded, you can extract all individual frames using ffmpeg
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#mkdir frames
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#ffmpeg -i test.mp4 "frames/out-%03d.png"
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#by default, PyBullet runs at 240Hz
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p.connect(p.GUI, options="--width=1920 --height=1080 --mp4=\"test.mp4\" --mp4fps=240")
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
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p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
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p.loadURDF("plane.urdf")
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#in 3 seconds, the object travels about 0.5*g*t^2 meter ~ 45 meter.
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r2d2 = p.loadURDF("r2d2.urdf",[0,0,45])
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#disable linear damping
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p.changeDynamics(r2d2,-1, linearDamping=0)
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p.setGravity(0,0,-10)
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for i in range (3*240):
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txt = "frame "+str(i)
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item = p.addUserDebugText(txt, [0,1,0])
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p.stepSimulation()
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#synchronize the visualizer (rendering frames for the video mp4) with stepSimulation
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p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
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#print("r2d2 vel=", p.getBaseVelocity(r2d2)[0][2])
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p.removeUserDebugItem(item)
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p.disconnect()
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