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author | erwincoumans <erwin.coumans@gmail.com> | 2018-03-28 19:08:18 -0700 |
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committer | erwincoumans <erwin.coumans@gmail.com> | 2018-03-28 19:08:18 -0700 |
commit | ec682904977d7c870ff53d6b82350fb9adc00c24 (patch) | |
tree | 8160bf8287d818667482b0a643319299b2d821ef /examples | |
parent | 6856334d4891f99642428cc6c38bbdfac3bc3bc8 (diff) | |
download | bullet3-ec682904977d7c870ff53d6b82350fb9adc00c24.tar.gz |
PyBullet createVisualShape/createVisualShapeArray: postpone visual shape conversion until we know the link inertial transform
Diffstat (limited to 'examples')
-rw-r--r-- | examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 166 |
1 files changed, 100 insertions, 66 deletions
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 4352fd5ba..f1e1b057e 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -150,16 +150,16 @@ struct InternalVisualShapeData int m_tinyRendererVisualShapeIndex; int m_OpenGLGraphicsIndex; - UrdfVisual m_visualShape; - btTransform m_localInertiaFrame; - std::string m_pathPrefix; + b3AlignedObjectArray<UrdfVisual> m_visualShapes; + + b3AlignedObjectArray<std::string> m_pathPrefixes; void clear() { - m_tinyRendererVisualShapeIndex = 0; - m_OpenGLGraphicsIndex = 0; - m_localInertiaFrame.setIdentity(); - m_pathPrefix = ""; + m_tinyRendererVisualShapeIndex = -1; + m_OpenGLGraphicsIndex = -1; + m_visualShapes.clear(); + m_pathPrefixes.clear(); } }; @@ -1921,10 +1921,13 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface const InternalVisualShapeHandle* visHandle = m_data->m_userVisualShapeHandles.getHandle(m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]); if (visHandle) { - if (visHandle->m_visualShape.m_geometry.m_hasLocalMaterial) + for (int i=0;i<visHandle->m_visualShapes.size();i++) { - matCol = visHandle->m_visualShape.m_geometry.m_localMaterial.m_matColor; - return true; + if (visHandle->m_visualShapes[i].m_geometry.m_hasLocalMaterial) + { + matCol = visHandle->m_visualShapes[i].m_geometry.m_localMaterial.m_matColor; + return true; + } } } } @@ -2092,39 +2095,91 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface b3Assert(0); } - ///quick hack: need to rethink the API/dependencies of this - virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const + virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const { + int graphicsIndex = -1; + double globalScaling = 1.f;//todo! + int flags=0; + BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags); + u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer); + + btAlignedObjectArray<GLInstanceVertex> vertices; + btAlignedObjectArray<int> indices; + btTransform startTrans; startTrans.setIdentity(); + btAlignedObjectArray<BulletURDFTexture> textures; + if (m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]>=0) { - const InternalVisualShapeHandle* visHandle = m_data->m_userVisualShapeHandles.getHandle(m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]); + InternalVisualShapeHandle* visHandle = m_data->m_userVisualShapeHandles.getHandle(m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]); if (visHandle) { - - return visHandle->m_OpenGLGraphicsIndex; + if (visHandle->m_OpenGLGraphicsIndex>=0) + { + //instancing. assume the inertial frame is identical + graphicsIndex = visHandle->m_OpenGLGraphicsIndex; + } else + { + for (int v = 0;v<visHandle->m_visualShapes.size();v++) + { + u2b.convertURDFToVisualShapeInternal(&visHandle->m_visualShapes[v], pathPrefix, localInertiaFrame.inverse()*visHandle->m_visualShapes[v].m_linkLocalFrame, vertices, indices, textures); + } + + if (vertices.size() && indices.size()) + { + if (1) + { + int textureIndex = -1; + if (textures.size()) + { + + textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1, textures[0].m_width, textures[0].m_height); + } + + { + B3_PROFILE("registerGraphicsShape"); + graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex); + visHandle->m_OpenGLGraphicsIndex = graphicsIndex; + } + } + } + } } + } - return -1; + return graphicsIndex; } virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const { //if there is a visual, use it, otherwise convert collision shape back into UrdfCollision... - - - UrdfModel model;// = m_data->m_urdfParser.getModel(); UrdfLink link; - int colShapeUniqueId = m_createBodyArgs.m_linkCollisionShapeUniqueIds[urdfIndex]; - if (colShapeUniqueId>=0) + + if (m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]>=0) { - InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(colShapeUniqueId); - if (handle) + const InternalVisualShapeHandle* visHandle = m_data->m_userVisualShapeHandles.getHandle(m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]); + if (visHandle) + { + for (int i=0;i<visHandle->m_visualShapes.size();i++) + { + link.m_visualArray.push_back(visHandle->m_visualShapes[i]); + } + } + } + + if (link.m_visualArray.size()==0) + { + int colShapeUniqueId = m_createBodyArgs.m_linkCollisionShapeUniqueIds[urdfIndex]; + if (colShapeUniqueId>=0) { - for (int i=0;i<handle->m_urdfCollisionObjects.size();i++) + InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(colShapeUniqueId); + if (handle) { - link.m_collisionArray.push_back(handle->m_urdfCollisionObjects[i]); + for (int i=0;i<handle->m_urdfCollisionObjects.size();i++) + { + link.m_collisionArray.push_back(handle->m_urdfCollisionObjects[i]); + } } } } @@ -3968,19 +4023,16 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer); btTransform localInertiaFrame; localInertiaFrame.setIdentity(); - btTransform childTrans; - childTrans.setIdentity(); + const char* pathPrefix = ""; - - btAlignedObjectArray<GLInstanceVertex> vertices; - btAlignedObjectArray<int> indices; - btTransform startTrans; startTrans.setIdentity(); - btAlignedObjectArray<BulletURDFTexture> textures; + int visualShapeUniqueId = -1; + UrdfVisual visualShape; for (int userShapeIndex = 0; userShapeIndex< clientCmd.m_createUserShapeArgs.m_numUserShapes; userShapeIndex++) { - + btTransform childTrans; + childTrans.setIdentity(); visualShape.m_geometry.m_type = (UrdfGeomTypes)clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_type; char relativeFileName[1024]; char pathPrefix[1024]; @@ -4106,41 +4158,23 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct } - u2b.convertURDFToVisualShapeInternal(&visualShape, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices, textures); - - } - - if (vertices.size() && indices.size()) - { - if (1) + if (visualShapeUniqueId<0) { - int textureIndex = -1; - if (textures.size()) - { - - textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1, textures[0].m_width, textures[0].m_height); - } - int graphicsIndex = -1; - { - B3_PROFILE("registerGraphicsShape"); - graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex); - if (graphicsIndex >= 0) - { - int visualShapeUniqueId = m_data->m_userVisualShapeHandles.allocHandle(); - InternalVisualShapeHandle* visualHandle = m_data->m_userVisualShapeHandles.getHandle(visualShapeUniqueId); - visualHandle->m_OpenGLGraphicsIndex = graphicsIndex; - visualHandle->m_tinyRendererVisualShapeIndex = -1; - //tinyrenderer doesn't separate shape versus instance, so create it when creating the multibody instance - //store needed info for tinyrenderer - visualHandle->m_localInertiaFrame = localInertiaFrame; - visualHandle->m_visualShape = visualShape; - visualHandle->m_pathPrefix = pathPrefix[0] ? pathPrefix : ""; - - serverStatusOut.m_createUserShapeResultArgs.m_userShapeUniqueId = visualShapeUniqueId; - serverStatusOut.m_type = CMD_CREATE_VISUAL_SHAPE_COMPLETED; - } - } + visualShapeUniqueId = m_data->m_userVisualShapeHandles.allocHandle(); } + InternalVisualShapeHandle* visualHandle = m_data->m_userVisualShapeHandles.getHandle(visualShapeUniqueId); + visualHandle->m_OpenGLGraphicsIndex = -1; + visualHandle->m_tinyRendererVisualShapeIndex = -1; + //tinyrenderer doesn't separate shape versus instance, so create it when creating the multibody instance + //store needed info for tinyrenderer + + visualShape.m_linkLocalFrame = childTrans; + visualHandle->m_visualShapes.push_back(visualShape); + visualHandle->m_pathPrefixes.push_back(pathPrefix[0] ? pathPrefix : ""); + + serverStatusOut.m_createUserShapeResultArgs.m_userShapeUniqueId = visualShapeUniqueId; + serverStatusOut.m_type = CMD_CREATE_VISUAL_SHAPE_COMPLETED; + } return hasStatus; |