copy/move heightfield files around (part of pybullet_data)

prepare for heightfield support in pybullet (first step, needs a bit more)

examples/Heightfield/HeightfieldExample.cpp

@@ -22,8 +22,8 @@ subject to the following restrictions:
 #include "../MultiThreadedDemo/CommonRigidBodyMTBase.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
 #include "../OpenGLWindow/GLInstanceGraphicsShape.h"
-#include "../../Utils/b3BulletDefaultFileIO.h"
-#include "../../Importers/ImportURDFDemo/urdfStringSplit.h"
+#include "../Utils/b3BulletDefaultFileIO.h"
+#include "../Importers/ImportURDFDemo/urdfStringSplit.h"
 #include "stb_image/stb_image.h"
 
 // constants -------------------------------------------------------------------
@@ -1112,7 +1112,7 @@ void HeightfieldExample::initPhysics()
 	// set up basic state
 
 
-	m_type = PHY_FLOAT;// SHORT;
+	m_type = PHY_FLOAT;
 	m_model = gHeightfieldType;
 	m_isDynamic = true;
 
@@ -1156,8 +1156,14 @@ void HeightfieldExample::resetPhysics(void)
 			m_upAxis, m_type, flipQuadEdges);
 	btAssert(m_heightfieldShape && "null heightfield");
 
+	// set origin to middle of heightfield
+	btTransform tr;
+	tr.setIdentity();
+	tr.setOrigin(btVector3(0, 0, 0));
+
 	if (m_model== eImageFile)
 	{
+		tr.setOrigin(btVector3(0, 0, -24));
 		b3BulletDefaultFileIO fileIO;
 		char relativeFileName[1024];
 		int found = fileIO.findFile("heightmaps/gimp_overlay_out.png", relativeFileName, 1024);
@@ -1206,10 +1212,7 @@ void HeightfieldExample::resetPhysics(void)
 	// stash this shape away
 	m_collisionShapes.push_back(m_heightfieldShape);
 
-	// set origin to middle of heightfield
-	btTransform tr;
-	tr.setIdentity();
-	tr.setOrigin(btVector3(0, 0, 0));
+
 
 	// create ground object
 	float mass = 0.0;
@@ -1249,7 +1252,7 @@ void HeightfieldExample::clearWorld(void)
 		m_collisionShapes.clear();
 
 		// delete raw heightfield data
-		delete m_rawHeightfieldData;
+		delete[] m_rawHeightfieldData;
 		m_rawHeightfieldData = NULL;
 	}
 }

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -55,6 +55,7 @@ enum UrdfGeomTypes
 	URDF_GEOM_PLANE,
 	URDF_GEOM_CAPSULE,  //non-standard URDF
 	URDF_GEOM_CDF,      //signed-distance-field, non-standard URDF
+	URDF_GEOM_HEIGHTFIELD,   //heightfield, non-standard URDF
 	URDF_GEOM_UNKNOWN,
 };
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -14,7 +14,7 @@
 #include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
 #include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
 #include "BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h"
-
+#include "../Utils/b3BulletDefaultFileIO.h"
 
 #include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
@@ -4211,6 +4211,158 @@ bool PhysicsServerCommandProcessor::processSaveWorldCommand(const struct SharedM
 	return hasStatus;
 }
 
+
+
+
+
+#define MYLINELENGTH 16*32768
+
+static unsigned char* MyGetRawHeightfieldData(const char* fileName, int& width, int& height)
+{
+	int s_gridSize = width;
+	btScalar s_gridSpacing = 0.5;
+	btScalar s_gridHeightScale = 0.02;
+
+	PHY_ScalarType type = PHY_FLOAT;
+	if (1)//model == eImageFile)
+	{
+		b3BulletDefaultFileIO fileIO;
+		char relativeFileName[1024];
+		int found = fileIO.findFile(fileName, relativeFileName, 1024);
+		
+		b3AlignedObjectArray<char> buffer;
+		buffer.reserve(1024);
+		int fileId = fileIO.fileOpen(relativeFileName, "rb");
+		if (fileId >= 0)
+		{
+			int size = fileIO.getFileSize(fileId);
+			if (size>0)
+			{
+				buffer.resize(size);
+				int actual = fileIO.fileRead(fileId, &buffer[0], size);
+				if (actual != size)
+				{
+					b3Warning("STL filesize mismatch!\n");
+					buffer.resize(0);
+				}
+			}
+			fileIO.fileClose(fileId);
+		}
+
+		if (buffer.size())
+		{
+			int n;
+
+			unsigned char* image = stbi_load_from_memory((const unsigned char*)&buffer[0], buffer.size(), &width, &height, &n, 3);
+			if (image)
+			{
+				
+				fileIO.fileClose(fileId);
+				long nElements = ((long)s_gridSize) * s_gridSize;
+				int bytesPerElement = sizeof(btScalar); 
+				btAssert(bytesPerElement > 0 && "bad bytes per element");
+
+				long nBytes = nElements * bytesPerElement;
+				unsigned char * raw = new unsigned char[nBytes];
+				btAssert(raw && "out of memory");
+
+				unsigned char * p = raw;
+				for (int i = 0; i < width; ++i)
+				{
+					float x = i * s_gridSpacing;
+					for (int j = 0; j < width; ++j)
+					{
+						float y = j * s_gridSpacing;
+						float z = double(image[i * 3 + width*j * 3])*(40. / 256.);
+						btScalar * pf = (btScalar *)p;
+						*pf = z;
+						p += bytesPerElement;
+					}
+				}
+				return raw;
+			}
+		}
+	}
+#if 0
+	if (model == eCSVFile)
+	{
+		{
+			b3BulletDefaultFileIO fileIO;
+			char relativePath[1024];
+			int found = fileIO.findFile("heightmaps/ground0.txt", relativePath, 1024);
+			char lineBuffer[MYLINELENGTH];
+			int slot = fileIO.fileOpen(relativePath, "r");
+			int rows = 0;
+			int cols = 0;
+
+			btAlignedObjectArray<double> allValues;
+			if (slot >= 0)
+			{
+				char* lineChar;
+				while (lineChar = fileIO.readLine(slot, lineBuffer, MYLINELENGTH))
+				{
+					rows = 0;
+					char** values = urdfStrSplit(lineChar, ",");
+					if (values)
+					{
+						int index = 0;
+						char* value;
+						while (value = values[index++])
+						{
+							std::string strval(value);
+							double v;
+							if (sscanf(value, "%lf", &v) == 1)
+							{
+								//printf("strlen = %d\n", strval.length());
+								//printf("value[%d,%d]=%s or (%f)", cols,rows,value, v);
+								allValues.push_back(v);
+								rows++;
+							}
+						}
+					}
+					cols++;
+
+				}
+				printf("done, rows=%d, cols=%d\n", rows, cols);
+				int width = rows - 1;
+				s_gridSize = rows;
+				s_gridSpacing = 0.2;
+				s_gridHeightScale = 0.2;
+				fileIO.fileClose(slot);
+				long nElements = ((long)s_gridSize) * s_gridSize;
+				//	std::cerr << "  nElements = " << nElements << "\n";
+
+				int bytesPerElement = getByteSize(type);
+				//	std::cerr << "  bytesPerElement = " << bytesPerElement << "\n";
+				btAssert(bytesPerElement > 0 && "bad bytes per element");
+
+				long nBytes = nElements * bytesPerElement;
+				//	std::cerr << "  nBytes = " << nBytes << "\n";
+				unsigned char * raw = new unsigned char[nBytes];
+				btAssert(raw && "out of memory");
+
+				byte_t * p = raw;
+				for (int i = 0; i < width; ++i)
+				{
+					float x = i * s_gridSpacing;
+					for (int j = 0; j < width; ++j)
+					{
+						float y = j * s_gridSpacing;
+						float z = allValues[i + width*j];
+						convertFromFloat(p, z, type);
+						p += bytesPerElement;
+					}
+				}
+				return raw;
+			}
+		}
+	}
+#endif
+	
+	return 0;
+}
+
+
 bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	bool hasStatus = true;
@@ -4320,6 +4472,11 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 
 				break;
 			}
+			case GEOM_HEIGHTFIELD:
+			{
+				
+				break;
+			}
 			case GEOM_PLANE:
 			{
 				btVector3 planeNormal(clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[0],

examples/SharedMemory/SharedMemoryPublic.h

@@ -886,6 +886,8 @@ enum eUrdfGeomTypes  //sync with UrdfParser UrdfGeomTypes
 	GEOM_MESH,
 	GEOM_PLANE,
 	GEOM_CAPSULE,  //non-standard URDF?
+	GEOM_SDF,      //signed-distance-field, non-standard URDF
+	GEOM_HEIGHTFIELD,
 	GEOM_UNKNOWN,
 };
 

examples/pybullet/examples/heightfield.py

@@ -0,0 +1,73 @@
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+p.createCollisionShape(p.GEOM_HEIGHTFIELD)
+p.createMultiBody(0, 0)
+
+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 = [
+          1 + i * 5 * sphereRadius, 1 + 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.setGravity(0, 0, -10)
+p.setRealTimeSimulation(1)
+
+p.getNumJoints(sphereUid)
+for i in range(p.getNumJoints(sphereUid)):
+  p.getJointInfo(sphereUid, i)
+
+while (1):
+  keys = p.getKeyboardEvents()
+  print(keys)
+
+  time.sleep(0.01)

examples/pybullet/gym/pybullet_data/heightmaps/ground0.txt

@@ -0,0 +1,401 @@
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examples/pybullet/gym/pybullet_data/heightmaps/readme.txt

@@ -0,0 +1,4 @@
+wm_height_out.png and gimp_overlay_out assets from this Blender tutorial:
+https://www.beamng.com/threads/tutorial-adding-heightmap-roads-using-blender.16356/
+
+groundX.txt assets from DeepLoco, used with permission from Jason Peng.

examples/pybullet/pybullet.c

@@ -12394,6 +12394,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "GEOM_MESH", GEOM_MESH);
 	PyModule_AddIntConstant(m, "GEOM_PLANE", GEOM_PLANE);
 	PyModule_AddIntConstant(m, "GEOM_CAPSULE", GEOM_CAPSULE);
+	PyModule_AddIntConstant(m, "GEOM_HEIGHTFIELD", GEOM_HEIGHTFIELD);
+	
 
 	PyModule_AddIntConstant(m, "GEOM_FORCE_CONCAVE_TRIMESH", GEOM_FORCE_CONCAVE_TRIMESH);
 	PyModule_AddIntConstant(m, "GEOM_CONCAVE_INTERNAL_EDGE", GEOM_CONCAVE_INTERNAL_EDGE);