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Merge pull request #4241 from erwincoumans/master

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remove dependency on Examples from src folder.
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erwincoumans 2022-04-23 06:25:00 -07:00 committed by GitHub
commit 0edcbd693a
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6 changed files with 264 additions and 139 deletions
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146
examples/DeformableDemo/LoadDeformed.cpp
View File

@ -26,6 +26,150 @@
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
#include "../Utils/b3ResourcePath.h"
#include "../Utils/b3BulletDefaultFileIO.h"
#include <iostream>
#include <iomanip>
#include <sstream>
#include <string.h>
struct CustomSoftBodyHelper : public btSoftBodyHelpers
{
static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
};
static inline bool isSpace(const char c)
{
return (c == ' ') || (c == '\t');
}
static inline bool isNewLine(const char c)
{
return (c == '\r') || (c == '\n') || (c == '\0');
}
static inline float parseFloat(const char*& token)
{
token += strspn(token, " \t");
float f = (float)atof(token);
token += strcspn(token, " \t\r");
return f;
}
static inline void parseFloat3(
float& x, float& y, float& z,
const char*& token)
{
x = parseFloat(token);
y = parseFloat(token);
z = parseFloat(token);
}
std::string CustomSoftBodyHelper::loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO)
{
{
qs.clear();
vs.clear();
std::string tmp = filename;
std::stringstream err;
#ifdef USE_STREAM
std::ifstream ifs(filename);
if (!ifs)
{
err << "Cannot open file [" << filename << "]" << std::endl;
return err.str();
}
#else
int fileHandle = fileIO->fileOpen(filename, "r");
if (fileHandle < 0)
{
err << "Cannot open file [" << filename << "]" << std::endl;
return err.str();
}
#endif
std::string name;
int maxchars = 8192; // Alloc enough size.
std::vector<char> buf(maxchars); // Alloc enough size.
std::string linebuf;
linebuf.reserve(maxchars);
#ifdef USE_STREAM
while (ifs.peek() != -1)
#else
char* line = 0;
do
#endif
{
linebuf.resize(0);
#ifdef USE_STREAM
safeGetline(ifs, linebuf);
#else
char tmpBuf[1024];
line = fileIO->readLine(fileHandle, tmpBuf, 1024);
if (line)
{
linebuf = line;
}
#endif
// Trim newline '\r\n' or '\r'
if (linebuf.size() > 0)
{
if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
}
if (linebuf.size() > 0)
{
if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
}
// Skip if empty line.
if (linebuf.empty())
{
continue;
}
// Skip leading space.
const char* token = linebuf.c_str();
token += strspn(token, " \t");
btAssert(token);
if (token[0] == '\0') continue; // empty line
if (token[0] == '#') continue; // comment line
// q
if (token[0] == 'q' && isSpace((token[1])))
{
token += 2;
float x, y, z;
parseFloat3(x, y, z, token);
qs.push_back(btVector3(x, y, z));
continue;
}
// v
if (token[0] == 'v' && isSpace((token[1])))
{
token += 3;
float x, y, z;
parseFloat3(x, y, z, token);
vs.push_back(btVector3(x, y, z));
continue;
}
// Ignore unknown command.
}
#ifndef USE_STREAM
while (line)
;
#endif
if (fileHandle >= 0)
{
fileIO->fileClose(fileHandle);
}
return err.str();
}
}
class LoadDeformed : public CommonDeformableBodyBase
{
@ -188,7 +332,7 @@ void LoadDeformed::addCloth(const btVector3& origin)
fileio.findResourcePath(filename, absolute_path, 1024);
btAlignedObjectArray<btVector3> qs;
btAlignedObjectArray<btVector3> vs;
btSoftBodyHelpers::loadDeformableState(qs, vs, absolute_path, &fileio);
CustomSoftBodyHelper::loadDeformableState(qs, vs, absolute_path, &fileio);
if (reset_frame > 0)
psb->updateState(qs, vs);
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;

118
examples/pybullet/examples/biped2d_pybullet.py
View File

@ -2,18 +2,130 @@ import pybullet as p
import pybullet_data
import os
import time
import pybullet as p
import pybullet_data as pd
import math
import time
p.connect(p.GUI)
p.setAdditionalSearchPath(pd.getDataPath())
textureId = -1
useProgrammatic = 0
useTerrainFromPNG = 1
useDeepLocoCSV = 2
updateHeightfield = False
heightfieldSource = useProgrammatic
import random
random.seed(10)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
heightPerturbationRange = 0.05
if heightfieldSource==useProgrammatic:
numHeightfieldRows = 256
numHeightfieldColumns = 256
heightfieldData = [0]*numHeightfieldRows*numHeightfieldColumns
for j in range (int(numHeightfieldColumns/2)):
for i in range (int(numHeightfieldRows/2) ):
height = random.uniform(0,heightPerturbationRange)
heightfieldData[2*i+2*j*numHeightfieldRows]=height
heightfieldData[2*i+1+2*j*numHeightfieldRows]=height
heightfieldData[2*i+(2*j+1)*numHeightfieldRows]=height
heightfieldData[2*i+1+(2*j+1)*numHeightfieldRows]=height
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns)
terrain = p.createMultiBody(0, terrainShape)
p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
if heightfieldSource==useDeepLocoCSV:
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.5,.5,2.5],fileName = "heightmaps/ground0.txt", heightfieldTextureScaling=128)
terrain = p.createMultiBody(0, terrainShape)
p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
if heightfieldSource==useTerrainFromPNG:
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.1,.1,24],fileName = "heightmaps/wm_height_out.png")
textureId = p.loadTexture("heightmaps/gimp_overlay_out.png")
terrain = p.createMultiBody(0, terrainShape)
p.changeVisualShape(terrain, -1, textureUniqueId = textureId)
p.changeVisualShape(terrain, -1, rgbaColor=[1,1,1,1])
sphereRadius = 0.05
colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
colBoxId = p.createCollisionShape(p.GEOM_BOX,
halfExtents=[sphereRadius, sphereRadius, sphereRadius])
mass = 1
visualShapeId = -1
link_Masses = [1]
linkCollisionShapeIndices = [colBoxId]
linkVisualShapeIndices = [-1]
linkPositions = [[0, 0, 0.11]]
linkOrientations = [[0, 0, 0, 1]]
linkInertialFramePositions = [[0, 0, 0]]
linkInertialFrameOrientations = [[0, 0, 0, 1]]
indices = [0]
jointTypes = [p.JOINT_REVOLUTE]
axis = [[0, 0, 1]]
for i in range(3):
for j in range(3):
for k in range(3):
basePosition = [
i * 5 * sphereRadius, j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
]
baseOrientation = [0, 0, 0, 1]
if (k & 2):
sphereUid = p.createMultiBody(mass, colSphereId, visualShapeId, basePosition,
baseOrientation)
else:
sphereUid = p.createMultiBody(mass,
colBoxId,
visualShapeId,
basePosition,
baseOrientation,
linkMasses=link_Masses,
linkCollisionShapeIndices=linkCollisionShapeIndices,
linkVisualShapeIndices=linkVisualShapeIndices,
linkPositions=linkPositions,
linkOrientations=linkOrientations,
linkInertialFramePositions=linkInertialFramePositions,
linkInertialFrameOrientations=linkInertialFrameOrientations,
linkParentIndices=indices,
linkJointTypes=jointTypes,
linkJointAxis=axis)
p.changeDynamics(sphereUid,
-1,
spinningFriction=0.001,
rollingFriction=0.001,
linearDamping=0.0)
for joint in range(p.getNumJoints(sphereUid)):
p.setJointMotorControl2(sphereUid, joint, p.VELOCITY_CONTROL, targetVelocity=1, force=10)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
GRAVITY = -9.8
dt = 1e-3
iters = 2000
import pybullet_data
physicsClient = p.connect(p.GUI)
#physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.resetSimulation()
#p.resetSimulation()
#p.setRealTimeSimulation(True)
p.setGravity(0, 0, GRAVITY)
p.setTimeStep(dt)
planeId = p.loadURDF("plane.urdf")
#planeId = p.loadURDF("plane.urdf")
cubeStartPos = [0, 0, 1.13]
cubeStartOrientation = p.getQuaternionFromEuler([0., 0, 0])
botId = p.loadURDF("biped/biped2d_pybullet.urdf", cubeStartPos, cubeStartOrientation)

131
src/BulletSoftBody/btSoftBodyHelpers.cpp
View File

@ -1488,29 +1488,6 @@ void btSoftBodyHelpers::writeObj(const char* filename, const btSoftBody* psb)
fs.close();
}
static inline bool isSpace(const char c)
{
return (c == ' ') || (c == '\t');
}
static inline bool isNewLine(const char c)
{
return (c == '\r') || (c == '\n') || (c == '\0');
}
static inline float parseFloat(const char*& token)
{
token += strspn(token, " \t");
float f = (float)atof(token);
token += strcspn(token, " \t\r");
return f;
}
static inline void parseFloat3(
float& x, float& y, float& z,
const char*& token)
{
x = parseFloat(token);
y = parseFloat(token);
z = parseFloat(token);
}
void btSoftBodyHelpers::writeState(const char* file, const btSoftBody* psb)
{
@ -1542,114 +1519,6 @@ void btSoftBodyHelpers::writeState(const char* file, const btSoftBody* psb)
fs.close();
}
std::string btSoftBodyHelpers::loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO)
{
{
qs.clear();
vs.clear();
std::string tmp = filename;
std::stringstream err;
#ifdef USE_STREAM
std::ifstream ifs(filename);
if (!ifs)
{
err << "Cannot open file [" << filename << "]" << std::endl;
return err.str();
}
#else
int fileHandle = fileIO->fileOpen(filename, "r");
if (fileHandle < 0)
{
err << "Cannot open file [" << filename << "]" << std::endl;
return err.str();
}
#endif
std::string name;
int maxchars = 8192; // Alloc enough size.
std::vector<char> buf(maxchars); // Alloc enough size.
std::string linebuf;
linebuf.reserve(maxchars);
#ifdef USE_STREAM
while (ifs.peek() != -1)
#else
char* line = 0;
do
#endif
{
linebuf.resize(0);
#ifdef USE_STREAM
safeGetline(ifs, linebuf);
#else
char tmpBuf[1024];
line = fileIO->readLine(fileHandle, tmpBuf, 1024);
if (line)
{
linebuf = line;
}
#endif
// Trim newline '\r\n' or '\r'
if (linebuf.size() > 0)
{
if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
}
if (linebuf.size() > 0)
{
if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
}
// Skip if empty line.
if (linebuf.empty())
{
continue;
}
// Skip leading space.
const char* token = linebuf.c_str();
token += strspn(token, " \t");
btAssert(token);
if (token[0] == '\0') continue; // empty line
if (token[0] == '#') continue; // comment line
// q
if (token[0] == 'q' && isSpace((token[1])))
{
token += 2;
float x, y, z;
parseFloat3(x, y, z, token);
qs.push_back(btVector3(x, y, z));
continue;
}
// v
if (token[0] == 'v' && isSpace((token[1])))
{
token += 3;
float x, y, z;
parseFloat3(x, y, z, token);
vs.push_back(btVector3(x, y, z));
continue;
}
// Ignore unknown command.
}
#ifndef USE_STREAM
while (line)
;
#endif
if (fileHandle >= 0)
{
fileIO->fileClose(fileHandle);
}
return err.str();
}
}
void btSoftBodyHelpers::duplicateFaces(const char* filename, const btSoftBody* psb)
{
std::ifstream fs_read;

4
src/BulletSoftBody/btSoftBodyHelpers.h
View File

@ -17,7 +17,6 @@ subject to the following restrictions:
#define BT_SOFT_BODY_HELPERS_H
#include "btSoftBody.h"
#include "../../examples/CommonInterfaces/CommonFileIOInterface.h"
#include <fstream>
#include <string>
//
@ -149,7 +148,8 @@ struct btSoftBodyHelpers
static void writeState(const char* file, const btSoftBody* psb);
static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
//this code cannot be here, dependency on example code are not allowed
//static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary);

2
src/LinearMath/btScalar.h
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@ -25,7 +25,7 @@ subject to the following restrictions:
#include <float.h>
/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
#define BT_BULLET_VERSION 320
#define BT_BULLET_VERSION 322
inline int btGetVersion()
{

2
src/LinearMath/btSerializer.h
View File

@ -481,7 +481,7 @@ public:
buffer[9] = '3';
buffer[10] = '2';
buffer[11] = '1';
buffer[11] = '2';
}
virtual void startSerialization()