bullet3/examples/pybullet/gym/pybullet_examples/createVisualShapeArray.py

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import pybullet as p
import time
import math
import pybullet_data
def getRayFromTo(mouseX, mouseY):
width, height, viewMat, projMat, cameraUp, camForward, horizon, vertical, _, _, dist, camTarget = p.getDebugVisualizerCamera(
)
camPos = [
camTarget[0] - dist * camForward[0], camTarget[1] - dist * camForward[1],
camTarget[2] - dist * camForward[2]
]
farPlane = 10000
rayForward = [(camTarget[0] - camPos[0]), (camTarget[1] - camPos[1]), (camTarget[2] - camPos[2])]
invLen = farPlane * 1. / (math.sqrt(rayForward[0] * rayForward[0] + rayForward[1] *
rayForward[1] + rayForward[2] * rayForward[2]))
rayForward = [invLen * rayForward[0], invLen * rayForward[1], invLen * rayForward[2]]
rayFrom = camPos
oneOverWidth = float(1) / float(width)
oneOverHeight = float(1) / float(height)
dHor = [horizon[0] * oneOverWidth, horizon[1] * oneOverWidth, horizon[2] * oneOverWidth]
dVer = [vertical[0] * oneOverHeight, vertical[1] * oneOverHeight, vertical[2] * oneOverHeight]
rayToCenter = [
rayFrom[0] + rayForward[0], rayFrom[1] + rayForward[1], rayFrom[2] + rayForward[2]
]
rayTo = [
rayFrom[0] + rayForward[0] - 0.5 * horizon[0] + 0.5 * vertical[0] + float(mouseX) * dHor[0] -
float(mouseY) * dVer[0], rayFrom[1] + rayForward[1] - 0.5 * horizon[1] + 0.5 * vertical[1] +
float(mouseX) * dHor[1] - float(mouseY) * dVer[1], rayFrom[2] + rayForward[2] -
0.5 * horizon[2] + 0.5 * vertical[2] + float(mouseX) * dHor[2] - float(mouseY) * dVer[2]
]
return rayFrom, rayTo
cid = p.connect(p.SHARED_MEMORY)
if (cid < 0):
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setPhysicsEngineParameter(numSolverIterations=10)
p.setTimeStep(1. / 120.)
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")
#useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
p.loadURDF("plane100.urdf", useMaximalCoordinates=True)
#disable rendering during creation.
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
#disable tinyrenderer, software (CPU) renderer, we don't use it here
p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER, 0)
shift = [0, -0.02, 0]
shift1 = [0, 0.1, 0]
shift2 = [0, 0, 0]
meshScale = [0.1, 0.1, 0.1]
#the visual shape and collision shape can be re-used by all createMultiBody instances (instancing)
visualShapeId = p.createVisualShapeArray(shapeTypes=[p.GEOM_MESH, p.GEOM_BOX],
halfExtents=[[0, 0, 0], [0.1, 0.1, 0.1]],
fileNames=["duck.obj", ""],
visualFramePositions=[
shift1,
shift2,
],
meshScales=[meshScale, meshScale])
collisionShapeId = p.createCollisionShapeArray(shapeTypes=[p.GEOM_MESH, p.GEOM_BOX],
halfExtents=[[0, 0, 0], [0.1, 0.1, 0.1]],
fileNames=["duck_vhacd.obj", ""],
collisionFramePositions=[
shift1,
shift2,
],
meshScales=[meshScale, meshScale])
rangex = 2
rangey = 2
for i in range(rangex):
for j in range(rangey):
mb = p.createMultiBody(baseMass=1,
baseInertialFramePosition=[0, 0, 0],
baseCollisionShapeIndex=collisionShapeId,
baseVisualShapeIndex=visualShapeId,
basePosition=[((-rangex / 2) + i * 2) * meshScale[0] * 2,
(-rangey / 2 + j) * meshScale[1] * 4, 1],
useMaximalCoordinates=False)
p.changeVisualShape(mb, -1, rgbaColor=[1, 1, 1, 1])
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
p.stopStateLogging(logId)
p.setGravity(0, 0, -10)
p.setRealTimeSimulation(1)
colors = [[1, 0, 0, 1], [0, 1, 0, 1], [0, 0, 1, 1], [1, 1, 1, 1]]
currentColor = 0
p.getCameraImage(64, 64, renderer=p.ER_BULLET_HARDWARE_OPENGL)
while (1):
mouseEvents = p.getMouseEvents()
for e in mouseEvents:
if ((e[0] == 2) and (e[3] == 0) and (e[4] & p.KEY_WAS_TRIGGERED)):
mouseX = e[1]
mouseY = e[2]
rayFrom, rayTo = getRayFromTo(mouseX, mouseY)
rayInfo = p.rayTest(rayFrom, rayTo)
#p.addUserDebugLine(rayFrom,rayTo,[1,0,0],3)
for l in range(len(rayInfo)):
hit = rayInfo[l]
objectUid = hit[0]
if (objectUid >= 0):
#p.removeBody(objectUid)
p.changeVisualShape(objectUid, -1, rgbaColor=colors[currentColor])
currentColor += 1
if (currentColor >= len(colors)):
currentColor = 0