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1452cae641
1) allow to render deformables in 'getCameraImage', for TinyRenderer (tested OK) and EGL (untested) 2) allow to have textures for deformables. See deformable_ball.py, deformable_anchor.py and deformable_torus.py for examples 3) deformables: allow to request simulation mesh data (even if there is a render mesh) See deformable_anchor.py for an example usage data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH) 4) fix deletion of deformables, thanks to Fychuyan, https://github.com/bulletphysics/bullet3/pull/3048 5) allow to enable and disable double-sided rendering, p.changeVisualShape(objectUid, linkIndex, flags=p.VISUAL_SHAPE_DOUBLE_SIDED) 6) fix GripperGraspExample, model not found 7) Fix deformable anchor not attaching to multibody with object unique id of 0 8) Fix issue with assignment of unique ids in TinyRenderer/EGL renderer (always use broadphase uid) 9) Avoid crash/issue of simulation with pinned vertices (mass 0) in btDeformableBackwardEulerObjective::applyExplicitForce 10) Store uv/normal in btSoftBody::RenderNode to allow textured meshes 11) (uncomment in btSoftBodyHelpers.cpp): dump vertices and indices in obj wavefront format, when loading a VTK file, for quicker creation of a (textured) surface mesh 12) allow interpolateRenderMesh also for old position-based soft bodies (not only the shiny new FEM deformables) 13) fix a few premake targets 14) update build_visual_studio_vr_pybullet_double_cmake.bat so it suits c:\python37 and installs locally for local install of Bullet, see also this example https://github.com/erwincoumans/hello_bullet_cmake
103 lines
2.9 KiB
Python
103 lines
2.9 KiB
Python
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#using the eglRendererPlugin (hardware OpenGL acceleration)
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#using EGL on Linux and default OpenGL window on Win32.
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#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
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#otherwise use testrender.py (slower but compatible without numpy)
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#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
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import numpy as np
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import matplotlib.pyplot as plt
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import pybullet
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import time
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import pkgutil
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plt.ion()
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img = np.random.rand(200, 320)
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#img = [tandard_normal((50,100))
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image = plt.imshow(img, interpolation='none', animated=True, label="blah")
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ax = plt.gca()
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import pybullet_data
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pybullet.connect(pybullet.DIRECT)
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pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
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egl = pkgutil.get_loader('eglRenderer')
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if (egl):
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pluginId = pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
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else:
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pluginId = pybullet.loadPlugin("eglRendererPlugin")
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print("pluginId=",pluginId)
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pybullet.loadURDF("plane.urdf", [0, 0, -1])
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pybullet.loadURDF("r2d2.urdf")
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camTargetPos = [0, 0, 0]
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cameraUp = [0, 0, 1]
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cameraPos = [1, 1, 1]
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pybullet.setGravity(0, 0, -10)
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pitch = -10.0
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roll = 0
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upAxisIndex = 2
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camDistance = 4
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pixelWidth = 320
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pixelHeight = 200
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nearPlane = 0.01
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farPlane = 100
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fov = 60
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main_start = time.time()
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while (1):
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for yaw in range(0, 360, 10):
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pybullet.stepSimulation()
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start = time.time()
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viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch,
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roll, upAxisIndex)
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aspect = pixelWidth / pixelHeight
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projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane)
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img_arr = pybullet.getCameraImage(pixelWidth,
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pixelHeight,
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viewMatrix,
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projectionMatrix,
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shadow=1,
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lightDirection=[1, 1, 1],
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renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
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stop = time.time()
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#print("renderImage %f" % (stop - start))
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w = img_arr[0] #width of the image, in pixels
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h = img_arr[1] #height of the image, in pixels
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rgb = img_arr[2] #color data RGB
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dep = img_arr[3] #depth data
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#print('width = %d height = %d' % (w, h))
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#note that sending the data to matplotlib is really slow
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#reshape is not needed
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np_img_arr = np.reshape(rgb, (h, w, 4))
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np_img_arr = np_img_arr * (1. / 255.)
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#show
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#plt.imshow(np_img_arr,interpolation='none',extent=(0,1600,0,1200))
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#image = plt.imshow(np_img_arr,interpolation='none',animated=True,label="blah")
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image.set_data(np_img_arr)
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ax.plot([0])
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#plt.draw()
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#plt.show()
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plt.pause(0.01)
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#image.draw()
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main_stop = time.time()
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print("Total time %f" % (main_stop - main_start))
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pybullet.resetSimulation()
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