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Merge pull request #731 from erwincoumans/master

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add pybullet render API with yaw/pitch/roll option, add pybullet testrender.py example
This commit is contained in:
erwincoumans 2016-08-09 19:24:11 -07:00 committed by GitHub
commit 27d3055638
21 changed files with 793 additions and 198 deletions
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40
build3/premake4.lua
View File

@ -85,12 +85,36 @@
newoption
{
trigger = "python",
description = "Enable Python scripting (experimental, use Physics Server in Example Browser). "
trigger = "enable_pybullet",
description = "Enable high-level Python scripting of Bullet with URDF/SDF import and synthetic camera."
}
if os.is("Linux") then
default_python_include_dir = "/usr/include/python2.7"
default_python_lib_dir = "/usr/local/lib/"
end
if os.is("Windows") then
default_python_include_dir = "C:/Python34/include"
default_python_lib_dir = "C:/Python34/libs"
end
newoption
{
trigger = "python_include_dir",
value = default_python_include_dir,
description = "Python (2.x or 3.x) include directory"
}
newoption
{
trigger = "python_lib_dir",
value = default_python_lib_dir,
description = "Python (2.x or 3.x) library directory "
}
newoption {
trigger = "targetdir",
value = "path such as ../bin",
@ -140,7 +164,7 @@
platforms {"x32"}
end
else
platforms {"x32", "x64"}
platforms {"x64"}
end
configuration {"x32"}
@ -191,6 +215,14 @@
targetdir( _OPTIONS["targetdir"] or "../bin" )
location("./" .. act .. postfix)
if not _OPTIONS["python_include_dir"] then
_OPTIONS["python_include_dir"] = default_python_include_dir
end
if not _OPTIONS["python_lib_dir"] then
_OPTIONS["python_lib_dir"] = default_python_lib_dir
end
projectRootDir = os.getcwd() .. "/../"
print("Project root directory: " .. projectRootDir);
@ -222,7 +254,7 @@
if _OPTIONS["lua"] then
include "../examples/ThirdPartyLibs/lua-5.2.3"
end
if _OPTIONS["python"] then
if _OPTIONS["enable_pybullet"] then
include "../examples/pybullet"
end

2
build_and_run_cmake.sh
View File

@ -2,6 +2,6 @@
rm CMakeCache.txt
mkdir build_cmake
cd build_cmake
cmake -DBUILD_PYTHON=OFF -CMAKE_BUILD_TYPE=Release ..
cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
make -j12
examples/ExampleBrowser/App_ExampleBrowser

2
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@ -520,7 +520,7 @@ void MyStatusBarError(const char* msg)
gui2->textOutput(msg);
gui2->forceUpdateScrollBars();
}
btAssert(0);
btAssert(0);
}

64
examples/RoboticsLearning/b3RobotSimAPI.cpp
View File

@ -47,6 +47,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eRobotSimGUIHelperCreateCollisionShapeGraphicsObject,
eRobotSimGUIHelperCreateCollisionObjectGraphicsObject,
eRobotSimGUIHelperRemoveAllGraphicsInstances,
eRobotSimGUIHelperCopyCameraImageData,
};
#include <stdio.h>
@ -152,7 +153,7 @@ void* RobotlsMemoryFunc()
ATTRIBUTE_ALIGNED16(class) MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
ATTRIBUTE_ALIGNED16(class) MultiThreadedOpenGLGuiHelper2 : public GUIHelperInterface
{
CommonGraphicsApp* m_app;
@ -185,7 +186,7 @@ public:
int m_instanceId;
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
MultiThreadedOpenGLGuiHelper2(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
:m_app(app)
,m_cs(0),
m_texels(0),
@ -195,7 +196,7 @@ public:
}
virtual ~MultiThreadedOpenGLGuiHelper()
virtual ~MultiThreadedOpenGLGuiHelper2()
{
delete m_childGuiHelper;
}
@ -345,10 +346,39 @@ public:
{
}
float m_viewMatrix[16];
float m_projectionMatrix[16];
unsigned char* m_pixelsRGBA;
int m_rgbaBufferSizeInPixels;
float* m_depthBuffer;
int m_depthBufferSizeInPixels;
int m_startPixelIndex;
int m_destinationWidth;
int m_destinationHeight;
int* m_numPixelsCopied;
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
{
if (numPixelsCopied)
*numPixelsCopied = 0;
m_cs->lock();
for (int i=0;i<16;i++)
{
m_viewMatrix[i] = viewMatrix[i];
m_projectionMatrix[i] = projectionMatrix[i];
}
m_pixelsRGBA = pixelsRGBA;
m_rgbaBufferSizeInPixels = rgbaBufferSizeInPixels;
m_depthBuffer = depthBuffer;
m_depthBufferSizeInPixels = depthBufferSizeInPixels;
m_startPixelIndex = startPixelIndex;
m_destinationWidth = destinationWidth;
m_destinationHeight = destinationHeight;
m_numPixelsCopied = numPixelsCopied;
m_cs->setSharedParam(1,eRobotSimGUIHelperCopyCameraImageData);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
{
}
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
@ -375,7 +405,7 @@ struct b3RobotSimAPI_InternalData
b3ThreadSupportInterface* m_threadSupport;
RobotSimArgs m_args[MAX_ROBOT_NUM_THREADS];
MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
MultiThreadedOpenGLGuiHelper2* m_multiThreadedHelper;
bool m_connected;
@ -494,6 +524,24 @@ void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eRobotSimGUIHelperCopyCameraImageData:
{
m_data->m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_data->m_multiThreadedHelper->m_viewMatrix,
m_data->m_multiThreadedHelper->m_projectionMatrix,
m_data->m_multiThreadedHelper->m_pixelsRGBA,
m_data->m_multiThreadedHelper->m_rgbaBufferSizeInPixels,
m_data->m_multiThreadedHelper->m_depthBuffer,
m_data->m_multiThreadedHelper->m_depthBufferSizeInPixels,
m_data->m_multiThreadedHelper->m_startPixelIndex,
m_data->m_multiThreadedHelper->m_destinationWidth,
m_data->m_multiThreadedHelper->m_destinationHeight,
m_data->m_multiThreadedHelper->m_numPixelsCopied);
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eRobotSimGUIHelperIdle:
default:
{
@ -669,9 +717,9 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
{
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper(guiHelper->getAppInterface(),guiHelper);
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(),guiHelper);
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(guiHelper->getAppInterface(),guiHelper);
MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(),guiHelper);

157
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@ -626,6 +626,7 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
return bodyId;
}
int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* numDegreeOfFreedomQ,
@ -825,7 +826,7 @@ void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHa
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, int upAxis)
void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
@ -834,47 +835,78 @@ void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandl
b3Vector3 camForward;
b3Vector3 camPos;
b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0],cameraTargetPosition[1],cameraTargetPosition[2]);
b3Vector3 eyePos = b3MakeVector3(0,0,0);
int forwardAxis(-1);
{
switch (upAxis)
{
case 1:
forwardAxis = 2;
camUpVector = b3MakeVector3(0,1,0);
//gLightPos = b3MakeVector3(-50.f,100,30);
break;
case 2:
forwardAxis = 1;
camUpVector = b3MakeVector3(0,0,1);
//gLightPos = b3MakeVector3(-50.f,30,100);
break;
default:
{
//b3Assert(0);
return;
}
};
b3Vector3 eyePos = b3MakeVector3(0,0,0);
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f,0.f,0.f);
} else
{
camForward.normalize();
case 1:
{
forwardAxis = 0;
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f,0.f,0.f);
} else
{
camForward.normalize();
}
b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
b3Quaternion rollRot(camForward,rollRad);
camUpVector = b3QuatRotate(rollRot,b3MakeVector3(0,1,0));
//gLightPos = b3MakeVector3(-50.f,100,30);
break;
}
case 2:
{
forwardAxis = 1;
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f,0.f,0.f);
} else
{
camForward.normalize();
}
b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
b3Quaternion rollRot(camForward,rollRad);
camUpVector = b3QuatRotate(rollRot,b3MakeVector3(0,0,1));
//gLightPos = b3MakeVector3(-50.f,30,100);
break;
}
default:
{
//b3Assert(0);
return;
}
};
}
b3Scalar rele = yaw * b3Scalar(0.01745329251994329547);// rads per deg
b3Scalar razi = pitch * b3Scalar(0.01745329251994329547);// rads per deg
b3Quaternion rot(camUpVector,razi);
b3Scalar yawRad = yaw * b3Scalar(0.01745329251994329547);// rads per deg
b3Scalar pitchRad = pitch * b3Scalar(0.01745329251994329547);// rads per deg
b3Quaternion pitchRot(camUpVector,pitchRad);
b3Vector3 right = camUpVector.cross(camForward);
b3Quaternion roll(right,-rele);
b3Quaternion yawRot(right,-yawRad);
eyePos = b3Matrix3x3(rot) * b3Matrix3x3(roll) * eyePos;
eyePos = b3Matrix3x3(pitchRot) * b3Matrix3x3(yawRot) * eyePos;
camPos = eyePos;
camPos += camTargetPos;
@ -1066,3 +1098,60 @@ void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUn
command->m_externalForceArguments.m_numForcesAndTorques++;
}
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CALCULATE_INVERSE_DYNAMICS;
command->m_updateFlags = 0;
command->m_calculateInverseDynamicsArguments.m_bodyUniqueId = bodyIndex;
int numJoints = cl->getNumJoints(bodyIndex);
for (int i = 0; i < numJoints;i++)
{
command->m_calculateInverseDynamicsArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
command->m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot[i] = jointVelocitiesQdot[i];
command->m_calculateInverseDynamicsArguments.m_jointAccelerations[i] = jointAccelerations[i];
}
return (b3SharedMemoryCommandHandle)command;
}
int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,
double* jointForces)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status->m_type == CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED);
if (status->m_type != CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED)
return false;
if (dofCount)
{
*dofCount = status->m_inverseDynamicsResultArgs.m_dofCount;
}
if (bodyUniqueId)
{
*bodyUniqueId = status->m_inverseDynamicsResultArgs.m_bodyUniqueId;
}
if (jointForces)
{
for (int i = 0; i < status->m_inverseDynamicsResultArgs.m_dofCount; i++)
{
jointForces[i] = status->m_inverseDynamicsResultArgs.m_jointForces[i];
}
}
return true;
}

12
examples/SharedMemory/PhysicsClientC_API.h
View File

@ -71,7 +71,7 @@ void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]);
void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, int upAxis);
void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis);
void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal);
void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle command, float fov, float aspect, float nearVal, float farVal);
void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
@ -97,6 +97,16 @@ int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHand
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,
double* jointForces);
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead

70
examples/SharedMemory/PhysicsClientExample.cpp
View File

@ -259,15 +259,15 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
//b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
float viewMatrix[16];
float projectionMatrix[16];
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
float viewMatrix[16];
float projectionMatrix[16];
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
@ -413,6 +413,33 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_CALCULATE_INVERSE_DYNAMICS:
{
if (m_selectedBody >= 0)
{
btAlignedObjectArray<double> jointPositionsQ;
btAlignedObjectArray<double> jointVelocitiesQdot;
btAlignedObjectArray<double> jointAccelerations;
int numJoints = b3GetNumJoints(m_physicsClientHandle, m_selectedBody);
if (numJoints)
{
b3Printf("Compute inverse dynamics for joint accelerations:");
jointPositionsQ.resize(numJoints);
jointVelocitiesQdot.resize(numJoints);
jointAccelerations.resize(numJoints);
for (int i = 0; i < numJoints; i++)
{
jointAccelerations[i] = 100;
b3Printf("Desired joint acceleration[%d]=%f", i, jointAccelerations[i]);
}
b3SharedMemoryCommandHandle commandHandle = b3CalculateInverseDynamicsCommandInit(m_physicsClientHandle,
m_selectedBody, &jointPositionsQ[0], &jointVelocitiesQdot[0], &jointAccelerations[0]);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
}
break;
}
default:
{
b3Error("Unknown buttonId");
@ -490,6 +517,7 @@ void PhysicsClientExample::createButtons()
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
createButton("Initialize Pose",CMD_INIT_POSE, isTrigger);
createButton("Set gravity", CMD_SEND_PHYSICS_SIMULATION_PARAMETERS, isTrigger);
createButton("Compute Inverse Dynamics", CMD_CALCULATE_INVERSE_DYNAMICS, isTrigger);
if (m_bodyUniqueIds.size())
{
@ -695,6 +723,36 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
// b3Printf(msg);
}
if (statusType == CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED)
{
int bodyUniqueId;
int dofCount;
b3GetStatusInverseDynamicsJointForces(status,
&bodyUniqueId,
&dofCount,
0);
btAlignedObjectArray<double> jointForces;
if (dofCount)
{
jointForces.resize(dofCount);
b3GetStatusInverseDynamicsJointForces(status,
0,
0,
&jointForces[0]);
for (int i = 0; i < dofCount; i++)
{
b3Printf("jointForces[%d]=%f", i, jointForces[i]);
}
}
}
if (statusType == CMD_CALCULATED_INVERSE_DYNAMICS_FAILED)
{
b3Warning("Inverse Dynamics computations failed");
}
if (statusType == CMD_CAMERA_IMAGE_FAILED)
{
b3Warning("Camera image FAILED\n");

12
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@ -542,7 +542,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Camera image FAILED\n");
break;
}
case CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED:
{
break;
}
case CMD_CALCULATED_INVERSE_DYNAMICS_FAILED:
{
b3Warning("Inverse Dynamics computations failed");
break;
}
default: {
b3Error("Unknown server status\n");
btAssert(0);
@ -609,7 +617,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
{
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0)
if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied)
{

4
examples/SharedMemory/PhysicsDirect.cpp
View File

@ -225,7 +225,7 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
= rgbaPixelsReceived[i];
}
if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0)
if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied)
{
@ -241,7 +241,7 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
m_data->m_cachedCameraPixelsHeight = serverCmd.m_sendPixelDataArguments.m_imageHeight;
}
}
} while (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0);
} while (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied);
return m_data->m_hasStatus;

95
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -4,13 +4,15 @@
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"
#include "TinyRendererVisualShapeConverter.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
#include "LinearMath/btHashMap.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "btBulletDynamicsCommon.h"
@ -383,6 +385,7 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
@ -548,8 +551,25 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
}
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
{
for (int i = 0; i < m_data->m_inverseDynamicsBodies.size(); i++)
{
btInverseDynamics::MultiBodyTree** treePtrPtr = m_data->m_inverseDynamicsBodies.getAtIndex(i);
if (treePtrPtr)
{
btInverseDynamics::MultiBodyTree* tree = *treePtrPtr;
delete tree;
}
}
m_data->m_inverseDynamicsBodies.clear();
}
void PhysicsServerCommandProcessor::deleteDynamicsWorld()
{
deleteCachedInverseDynamicsBodies();
for (int i=0;i<m_data->m_multiBodyJointFeedbacks.size();i++)
{
@ -1869,9 +1889,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_RESET_SIMULATION:
{
//clean up all data
deleteCachedInverseDynamicsBodies();
if (m_data && m_data->m_guiHelper)
{
m_data->m_guiHelper->removeAllGraphicsInstances();
@ -2066,6 +2085,74 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
}
case CMD_CALCULATE_INVERSE_DYNAMICS:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
btInverseDynamics::MultiBodyTree** treePtrPtr =
m_data->m_inverseDynamicsBodies.find(bodyHandle->m_multiBody);
btInverseDynamics::MultiBodyTree* tree = 0;
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
if (treePtrPtr)
{
tree = *treePtrPtr;
}
else
{
btInverseDynamics::btMultiBodyTreeCreator id_creator;
if (-1 == id_creator.createFromBtMultiBody(bodyHandle->m_multiBody, false))
{
b3Error("error creating tree\n");
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
}
else
{
tree = btInverseDynamics::CreateMultiBodyTree(id_creator);
m_data->m_inverseDynamicsBodies.insert(bodyHandle->m_multiBody, tree);
}
}
if (tree)
{
int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
const int num_dofs = bodyHandle->m_multiBody->getNumDofs();
btInverseDynamics::vecx nu(num_dofs+baseDofs), qdot(num_dofs + baseDofs), q(num_dofs + baseDofs), joint_force(num_dofs + baseDofs);
for (int i = 0; i < num_dofs; i++)
{
q[i + baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[i];
qdot[i + baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot[i];
nu[i+baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointAccelerations[i];
}
if (-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
{
serverCmd.m_inverseDynamicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId;
serverCmd.m_inverseDynamicsResultArgs.m_dofCount = num_dofs;
for (int i = 0; i < num_dofs; i++)
{
serverCmd.m_inverseDynamicsResultArgs.m_jointForces[i] = joint_force[i+baseDofs];
}
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED;
}
else
{
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
}
}
}
else
{
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
}
hasStatus = true;
break;
}
case CMD_APPLY_EXTERNAL_FORCE:
{
if (m_data->m_verboseOutput)

2
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@ -29,6 +29,7 @@ protected:
bool supportsJointMotor(class btMultiBody* body, int linkIndex);
int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes);
void deleteCachedInverseDynamicsBodies();
public:
PhysicsServerCommandProcessor();
@ -38,6 +39,7 @@ public:
virtual void createEmptyDynamicsWorld();
virtual void deleteDynamicsWorld();
virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes );

55
examples/SharedMemory/PhysicsServerExample.cpp
View File

@ -43,6 +43,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIHelperCreateCollisionShapeGraphicsObject,
eGUIHelperCreateCollisionObjectGraphicsObject,
eGUIHelperRemoveAllGraphicsInstances,
eGUIHelperCopyCameraImageData,
};
#include <stdio.h>
@ -392,11 +393,41 @@ public:
{
}
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int width, int height, int* numPixelsCopied)
float m_viewMatrix[16];
float m_projectionMatrix[16];
unsigned char* m_pixelsRGBA;
int m_rgbaBufferSizeInPixels;
float* m_depthBuffer;
int m_depthBufferSizeInPixels;
int m_startPixelIndex;
int m_destinationWidth;
int m_destinationHeight;
int* m_numPixelsCopied;
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
{
if (numPixelsCopied)
*numPixelsCopied = 0;
m_cs->lock();
for (int i=0;i<16;i++)
{
m_viewMatrix[i] = viewMatrix[i];
m_projectionMatrix[i] = projectionMatrix[i];
}
m_pixelsRGBA = pixelsRGBA;
m_rgbaBufferSizeInPixels = rgbaBufferSizeInPixels;
m_depthBuffer = depthBuffer;
m_depthBufferSizeInPixels = depthBufferSizeInPixels;
m_startPixelIndex = startPixelIndex;
m_destinationWidth = destinationWidth;
m_destinationHeight = destinationHeight;
m_numPixelsCopied = numPixelsCopied;
m_cs->setSharedParam(1,eGUIHelperCopyCameraImageData);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
@ -727,6 +758,24 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperCopyCameraImageData:
{
m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_multiThreadedHelper->m_viewMatrix,
m_multiThreadedHelper->m_projectionMatrix,
m_multiThreadedHelper->m_pixelsRGBA,
m_multiThreadedHelper->m_rgbaBufferSizeInPixels,
m_multiThreadedHelper->m_depthBuffer,
m_multiThreadedHelper->m_depthBufferSizeInPixels,
m_multiThreadedHelper->m_startPixelIndex,
m_multiThreadedHelper->m_destinationWidth,
m_multiThreadedHelper->m_destinationHeight,
m_multiThreadedHelper->m_numPixelsCopied);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperIdle:
default:
{

19
examples/SharedMemory/SharedMemoryCommands.h
View File

@ -348,6 +348,23 @@ enum EnumSdfRequestInfoFlags
//SDF_REQUEST_INFO_CAMERA=2,
};
struct CalculateInverseDynamicsArgs
{
int m_bodyUniqueId;
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
double m_jointVelocitiesQdot[MAX_DEGREE_OF_FREEDOM];
double m_jointAccelerations[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateInverseDynamicsResultArgs
{
int m_bodyUniqueId;
int m_dofCount;
double m_jointForces[MAX_DEGREE_OF_FREEDOM];
};
struct SharedMemoryCommand
{
int m_type;
@ -374,6 +391,7 @@ struct SharedMemoryCommand
struct RequestPixelDataArgs m_requestPixelDataArguments;
struct PickBodyArgs m_pickBodyArguments;
struct ExternalForceArgs m_externalForceArguments;
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
};
};
@ -397,6 +415,7 @@ struct SharedMemoryStatus
struct SendDebugLinesArgs m_sendDebugLinesArgs;
struct SendPixelDataArgs m_sendPixelDataArguments;
struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
};
};

3
examples/SharedMemory/SharedMemoryPublic.h
View File

@ -27,6 +27,7 @@ enum EnumSharedMemoryClientCommand
CMD_REMOVE_PICKING_CONSTRAINT_BODY,
CMD_REQUEST_CAMERA_IMAGE_DATA,
CMD_APPLY_EXTERNAL_FORCE,
CMD_CALCULATE_INVERSE_DYNAMICS,
CMD_MAX_CLIENT_COMMANDS
};
@ -59,6 +60,8 @@ enum EnumSharedMemoryServerStatus
CMD_BODY_INFO_COMPLETED,
CMD_BODY_INFO_FAILED,
CMD_INVALID_STATUS,
CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED,
CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
CMD_MAX_SERVER_COMMANDS
};

6
examples/SharedMemory/premake4.lua
View File

@ -10,7 +10,7 @@ end
includedirs {".","../../src", "../ThirdPartyLibs",}
links {
"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath"
"Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath"
}
language "C++"
@ -137,7 +137,7 @@ defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
"BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
initOpenGL()
initGlew()
@ -211,7 +211,7 @@ if os.is("Windows") then
}
links {
"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
"BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
}

109
examples/pybullet/CMakeLists.txt
View File

@ -8,61 +8,60 @@ INCLUDE_DIRECTORIES(
SET(pybullet_SRCS
pybullet.c
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsServerExample.cpp
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.cpp
../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.cpp
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/Win32SharedMemory.cpp
../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.cpp
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsServerExample.cpp
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.cpp
../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.cpp
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/Win32SharedMemory.cpp
../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.cpp
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
)
IF(WIN32)

68
examples/pybullet/premake4.lua
View File

@ -1,7 +1,6 @@
project ("pybullet")
language "C++"
kind "SharedLib"
targetsuffix ("")
@ -12,7 +11,7 @@ project ("pybullet")
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
initOpenGL()
initGlew()
@ -20,10 +19,8 @@ project ("pybullet")
".",
"../../src",
"../ThirdPartyLibs",
"/usr/include/python2.7",
}
if os.is("MacOSX") then
links{"Cocoa.framework","Python"}
end
@ -40,8 +37,69 @@ project ("pybullet")
files {
"pybullet.c",
"../../examples/ExampleBrowser/ExampleEntries.cpp",
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
"../../examples/OpenGLWindow/SimpleCamera.cpp",
"../../examples/OpenGLWindow/SimpleCamera.h",
"../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/SharedMemory/InProcessMemory.cpp",
"../../examples/SharedMemory/PhysicsClient.cpp",
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsServerExample.cpp",
"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
"../../examples/SharedMemory/PhysicsDirect.cpp",
"../../examples/SharedMemory/PhysicsDirect.h",
"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
"../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
"../../examples/SharedMemory/PhysicsClientC_API.h",
"../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
}
includedirs {
_OPTIONS["python_include_dir"],
}
libdirs {
_OPTIONS["python_lib_dir"]
}
if os.is("Linux") then
initX11()
end

131
examples/pybullet/pybullet.c
View File

@ -1154,20 +1154,21 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
b3RequestCameraImageSetFOVProjectionMatrix(command, fov, aspect, nearVal, farVal);
}
}
else if (size==10)
else if (size==11)
{
int upAxisIndex=1;
float camDistance,yaw,pitch;
float camDistance,yaw,pitch,roll;
//sometimes more arguments are better :-)
if (PyArg_ParseTuple(args, "iiOfffifff", &width, &height, &objTargetPos, &camDistance, &yaw, &pitch, &upAxisIndex, &nearVal, &farVal, &fov))
if (PyArg_ParseTuple(args, "iiOffffifff", &width, &height, &objTargetPos, &camDistance, &yaw, &pitch, &roll, &upAxisIndex, &nearVal, &farVal, &fov))
{
b3RequestCameraImageSetPixelResolution(command,width,height);
if (pybullet_internalSetVector(objTargetPos, targetPos))
{
//printf("width = %d, height = %d, targetPos = %f,%f,%f, distance = %f, yaw = %f, pitch = %f, upAxisIndex = %d, near=%f, far=%f, fov=%f\n",width,height,targetPos[0],targetPos[1],targetPos[2],camDistance,yaw,pitch,upAxisIndex,nearVal,farVal,fov);
b3RequestCameraImageSetViewMatrix2(command,targetPos,camDistance,yaw,pitch,upAxisIndex);
b3RequestCameraImageSetViewMatrix2(command,targetPos,camDistance,yaw,pitch,roll,upAxisIndex);
aspect = width/height;
b3RequestCameraImageSetFOVProjectionMatrix(command, fov, aspect, nearVal, farVal);
} else
@ -1193,6 +1194,9 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
//b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType==CMD_CAMERA_IMAGE_COMPLETED)
@ -1517,6 +1521,123 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, PyObject* args)
return Py_None;
}
///Given an object id, joint positions, joint velocities and joint accelerations,
///compute the joint forces using Inverse Dynamics
static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* args)
{
int size;
if (0 == sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
size = PySequence_Size(args);
if (size==4)
{
int bodyIndex;
PyObject* objPositionsQ;
PyObject* objVelocitiesQdot;
PyObject* objAccelerations;
if (PyArg_ParseTuple(args, "iOOO", &bodyIndex, &objPositionsQ, &objVelocitiesQdot, &objAccelerations))
{
int szObPos = PySequence_Size(objPositionsQ);
int szObVel = PySequence_Size(objVelocitiesQdot);
int szObAcc = PySequence_Size(objAccelerations);
int numJoints = b3GetNumJoints(sm, bodyIndex);
if (numJoints && (szObPos == numJoints) && (szObVel == numJoints) && (szObAcc == numJoints))
{
int szInBytes = sizeof(double)*numJoints;
int i;
PyObject* pylist = 0;
double* jointPositionsQ = (double*)malloc(szInBytes);
double* jointVelocitiesQdot = (double*)malloc(szInBytes);
double* jointAccelerations = (double*)malloc(szInBytes);
double* jointForcesOutput = (double*)malloc(szInBytes);
for (i = 0; i < numJoints; i++)
{
jointPositionsQ[i] = pybullet_internalGetFloatFromSequence(objPositionsQ, i);
jointVelocitiesQdot[i] = pybullet_internalGetFloatFromSequence(objVelocitiesQdot, i);
jointAccelerations[i] = pybullet_internalGetFloatFromSequence(objAccelerations, i);
}
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle commandHandle = b3CalculateInverseDynamicsCommandInit(sm,
bodyIndex, jointPositionsQ, jointVelocitiesQdot, jointAccelerations);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED)
{
int bodyUniqueId;
int dofCount;
b3GetStatusInverseDynamicsJointForces(statusHandle,
&bodyUniqueId,
&dofCount,
0);
if (dofCount)
{
b3GetStatusInverseDynamicsJointForces(statusHandle,
0,
0,
jointForcesOutput);
{
{
int i;
pylist = PyTuple_New(dofCount);
for (i = 0; i<dofCount; i++)
PyTuple_SetItem(pylist, i, PyFloat_FromDouble(jointForcesOutput[i]));
}
}
}
}
else
{
PyErr_SetString(SpamError, "Internal error in calculateInverseDynamics");
}
}
free(jointPositionsQ);
free(jointVelocitiesQdot);
free(jointAccelerations);
free(jointForcesOutput);
if (pylist)
return pylist;
}
else
{
PyErr_SetString(SpamError, "calculateInverseDynamics numJoints needs to be positive and [joint positions], [joint velocities], [joint accelerations] need to match the number of joints.");
return NULL;
}
}
else
{
PyErr_SetString(SpamError, "calculateInverseDynamics expects 4 arguments, body index, [joint positions], [joint velocities], [joint accelerations].");
return NULL;
}
}
else
{
PyErr_SetString(SpamError, "calculateInverseDynamics expects 4 arguments, body index, [joint positions], [joint velocities], [joint accelerations].");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
static PyMethodDef SpamMethods[] = {
@ -1583,6 +1704,8 @@ static PyMethodDef SpamMethods[] = {
{"getEulerFromQuaternion", pybullet_getEulerFromQuaternion, METH_VARARGS,
"Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF convention"},
{ "calculateInverseDynamics", pybullet_calculateInverseDynamics, METH_VARARGS,
"Given an object id, joint positions, joint velocities and joint accelerations, compute the joint forces using Inverse Dynamics" },
//todo(erwincoumans)
//saveSnapshot
//loadSnapshot

46
examples/pybullet/testrender.py
View File

@ -6,14 +6,16 @@ pybullet.connect(pybullet.GUI)
pybullet.loadURDF("r2d2.urdf")
camTargetPos = [0,0,0]
#cameraUp = [0,0,1]
cameraPos = [3,3,3]
yaw = 40.0
pitch = 0.0
upAxisIndex = 1
camDistance = 3
pixelWidth = 640
pixelHeight = 480
cameraUp = [0,0,1]
cameraPos = [1,1,1]
yaw = 40
pitch = 10.0
roll=0
upAxisIndex = 2
camDistance = 4
pixelWidth = 320
pixelHeight = 240
nearPlane = 0.01
farPlane = 1000
@ -22,19 +24,23 @@ fov = 60
#img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
#renderImage(w, h, view[16], projection[16])
#img_arr = pybullet.renderImage(pixelWidth, pixelHeight, cameraPos, camTargetPos, cameraUp, nearPlane, farPlane)
img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, upAxisIndex, nearPlane, farPlane, fov)
for pitch in range (0,360,10) :
img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex, nearPlane, farPlane, fov)
w=img_arr[0] #width of the image, in pixels
h=img_arr[1] #height of the image, in pixels
rgb=img_arr[2] #color data RGB
dep=img_arr[3] #depth data
w=img_arr[0] #width of the image, in pixels
h=img_arr[1] #height of the image, in pixels
rgb=img_arr[2] #color data RGB
dep=img_arr[3] #depth data
#print 'width = %d height = %d' % (w,h)
# reshape creates np array
np_img_arr = np.reshape(rgb, (pixelHeight, pixelWidth, 4))
np_img_arr = np_img_arr*(1./255.)
# reshape creates np array
np_img_arr = np.reshape(rgb, (h, w, 4))
np_img_arr = np_img_arr*(1./255.)
#show
plt.imshow(np_img_arr,interpolation='none')
plt.show()
p.resetSimulation()
#show
plt.imshow(np_img_arr,interpolation='none')
#plt.show()
plt.pause(0.01)
pybullet.resetSimulation()

2
test/SharedMemory/CMakeLists.txt
View File

@ -13,7 +13,7 @@ ADD_DEFINITIONS(-DPHYSICS_LOOP_BACK -DPHYSICS_SERVER_DIRECT -DENABLE_GTEST -D_VA
LINK_LIBRARIES(
BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest
BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest
)
IF (NOT WIN32)

92
test/SharedMemory/premake4.lua
View File

@ -36,6 +36,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_LOOP_BACK"}
links {
"BulletInverseDynamicsUtils",
"BulletInverseDynamics",
"BulletFileLoader",
"BulletWorldImporter",
"Bullet3Common",
@ -104,6 +106,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_SERVER_DIRECT"}
links {
"BulletInverseDynamicsUtils",
"BulletInverseDynamics",
"BulletFileLoader",
"BulletWorldImporter",
"Bullet3Common",
@ -213,55 +217,55 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
"../../examples/SharedMemory/InProcessMemory.cpp",
"../../examples/SharedMemory/PhysicsClient.cpp",
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsServerExample.cpp",
"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
"../../examples/SharedMemory/PhysicsDirect.cpp",
"../../examples/SharedMemory/PhysicsDirect.h",
"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
"../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
"../../examples/SharedMemory/PhysicsClientC_API.h",
"../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
"../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
"../../examples/SharedMemory/PhysicsDirect.cpp",
"../../examples/SharedMemory/PhysicsDirect.h",
"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
"../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
"../../examples/SharedMemory/PhysicsClientC_API.h",
"../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
"../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
}
if os.is("Linux") then
initX11()