diff --git a/data/multibody.bullet b/data/multibody.bullet index 0dee8f14a..b071e4eb7 100644 Binary files a/data/multibody.bullet and b/data/multibody.bullet differ diff --git a/data/plane_transparent.mtl b/data/plane_transparent.mtl new file mode 100644 index 000000000..6b700a066 --- /dev/null +++ b/data/plane_transparent.mtl @@ -0,0 +1,14 @@ +newmtl Material + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.0000 0.0000 0.0000 + Kd 0.5880 0.5880 0.5880 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Kd tex4x4.png + + diff --git a/data/plane_transparent.obj b/data/plane_transparent.obj new file mode 100644 index 000000000..b1317066e --- /dev/null +++ b/data/plane_transparent.obj @@ -0,0 +1,18 @@ +# Blender v2.66 (sub 1) OBJ File: '' +# www.blender.org +mtllib plane_transparent.mtl +o Plane +v 15.000000 -15.000000 0.000000 +v 15.000000 15.000000 0.000000 +v -15.000000 15.000000 0.000000 +v -15.000000 -15.000000 0.000000 + +vt 1.000000 0.000000 +vt 1.000000 1.000000 +vt 0.000000 1.000000 +vt 0.000000 0.000000 + +usemtl Material +s off +f 1/1 2/2 3/3 +f 1/1 3/3 4/4 diff --git a/data/plane_transparent.urdf b/data/plane_transparent.urdf new file mode 100644 index 000000000..4054d2948 --- /dev/null +++ b/data/plane_transparent.urdf @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/racecar/racecar_differential.urdf b/data/racecar/racecar_differential.urdf index 8f5f37519..c4f6ee42e 100644 --- a/data/racecar/racecar_differential.urdf +++ b/data/racecar/racecar_differential.urdf @@ -20,12 +20,12 @@ - + - + @@ -33,14 +33,14 @@ - + - + @@ -66,14 +66,14 @@ - + - + @@ -163,14 +163,14 @@ - + - + @@ -207,14 +207,14 @@ - + - + @@ -533,7 +533,7 @@ - + @@ -573,7 +573,7 @@ - + @@ -612,7 +612,7 @@ - + @@ -650,7 +650,7 @@ - + @@ -686,7 +686,7 @@ - + diff --git a/data/sphere_transparent.urdf b/data/sphere_transparent.urdf new file mode 100644 index 000000000..d856b5a26 --- /dev/null +++ b/data/sphere_transparent.urdf @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/stone.mtl b/data/stone.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/data/stone.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/data/stone.obj b/data/stone.obj new file mode 100644 index 000000000..0fbe8c5f3 --- /dev/null +++ b/data/stone.obj @@ -0,0 +1,32 @@ +# Blender v2.78 (sub 0) OBJ File: '' +# www.blender.org +mtllib stone.mtl +o Cube +v -0.246350 -0.246483 -0.000624 +v -0.151407 -0.176325 0.172867 +v -0.246350 0.249205 -0.000624 +v -0.151407 0.129477 0.172867 +v 0.249338 -0.246483 -0.000624 +v 0.154395 -0.176325 0.172867 +v 0.249338 0.249205 -0.000624 +v 0.154395 0.129477 0.172867 +vn -0.8772 0.0000 0.4801 +vn 0.0000 0.8230 0.5680 +vn 0.8772 0.0000 0.4801 +vn 0.0000 -0.9271 0.3749 +vn 0.0000 0.0000 -1.0000 +vn 0.0000 0.0000 1.0000 +usemtl None +s off +f 1//1 4//1 3//1 +f 4//2 7//2 3//2 +f 8//3 5//3 7//3 +f 6//4 1//4 5//4 +f 7//5 1//5 3//5 +f 4//6 6//6 8//6 +f 1//1 2//1 4//1 +f 4//2 8//2 7//2 +f 8//3 6//3 5//3 +f 6//4 2//4 1//4 +f 7//5 5//5 1//5 +f 4//6 2//6 6//6 diff --git a/data/tex256.png b/data/tex256.png new file mode 100644 index 000000000..130d4aade Binary files /dev/null and b/data/tex256.png differ diff --git a/data/widowx/bsd_license.txt b/data/widowx/bsd_license.txt new file mode 100644 index 000000000..cf5bb8ce7 --- /dev/null +++ b/data/widowx/bsd_license.txt @@ -0,0 +1,22 @@ +Converted from https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml + +Copyright 2017 robotnik + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. +3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + + widowx_arm_description + 0.0.2 + The widowx_arm_description package + + Jose Rapado García + Román Navarro + Carlos Villar + + \ No newline at end of file diff --git a/data/widowx/meshes/base_link.stl b/data/widowx/meshes/base_link.stl new file mode 100644 index 000000000..f9a359037 Binary files /dev/null and b/data/widowx/meshes/base_link.stl differ diff --git a/data/widowx/meshes/biceps_link.stl b/data/widowx/meshes/biceps_link.stl new file mode 100644 index 000000000..9d9115212 Binary files /dev/null and b/data/widowx/meshes/biceps_link.stl differ diff --git a/data/widowx/meshes/forearm_link.stl b/data/widowx/meshes/forearm_link.stl new file mode 100644 index 000000000..1aaf44e48 Binary files /dev/null and b/data/widowx/meshes/forearm_link.stl differ diff --git a/data/widowx/meshes/gripper_hand_fixed_link.stl b/data/widowx/meshes/gripper_hand_fixed_link.stl new file mode 100644 index 000000000..aa0ec60fd Binary files /dev/null and b/data/widowx/meshes/gripper_hand_fixed_link.stl differ diff --git a/data/widowx/meshes/gripper_rail_link.stl b/data/widowx/meshes/gripper_rail_link.stl new file mode 100644 index 000000000..e480ed586 Binary files /dev/null and b/data/widowx/meshes/gripper_rail_link.stl differ diff --git a/data/widowx/meshes/shoulder_link.stl b/data/widowx/meshes/shoulder_link.stl new file mode 100644 index 000000000..636d41403 Binary files /dev/null and b/data/widowx/meshes/shoulder_link.stl differ diff --git a/data/widowx/meshes/wrist_1_link.stl b/data/widowx/meshes/wrist_1_link.stl new file mode 100644 index 000000000..254878f25 Binary files /dev/null and b/data/widowx/meshes/wrist_1_link.stl differ diff --git a/data/widowx/meshes/wrist_2_link.stl b/data/widowx/meshes/wrist_2_link.stl new file mode 100644 index 000000000..281f20559 Binary files /dev/null and b/data/widowx/meshes/wrist_2_link.stl differ diff --git a/data/widowx/widowx.urdf b/data/widowx/widowx.urdf new file mode 100644 index 000000000..0463f9336 --- /dev/null +++ b/data/widowx/widowx.urdf @@ -0,0 +1,279 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Collision/CollisionTutorialBullet2.cpp b/examples/Collision/CollisionTutorialBullet2.cpp index 8159f89ee..6e65ac0cd 100644 --- a/examples/Collision/CollisionTutorialBullet2.cpp +++ b/examples/Collision/CollisionTutorialBullet2.cpp @@ -79,7 +79,6 @@ public: gTotalPoints = 0; m_app->setUpAxis(1); - m_app->m_renderer->enableBlend(true); switch (m_tutorialIndex) { @@ -250,7 +249,6 @@ public: m_timeSeriesCanvas0 = 0; - m_app->m_renderer->enableBlend(false); } diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h index 233f3002a..cbd52aa6f 100644 --- a/examples/CommonInterfaces/CommonGUIHelperInterface.h +++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h @@ -40,7 +40,11 @@ struct GUIHelperInterface virtual void removeGraphicsInstance(int graphicsUid) {} virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {} virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {} + virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height){} + virtual int getShapeIndexFromInstance(int instanceUid){return -1;} + virtual void replaceTexture(int shapeIndex, int textureUid){} + virtual Common2dCanvasInterface* get2dCanvasInterface()=0; diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h index a01533358..236f666c9 100644 --- a/examples/CommonInterfaces/CommonRenderInterface.h +++ b/examples/CommonInterfaces/CommonRenderInterface.h @@ -70,6 +70,9 @@ struct CommonRenderInterface virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true)=0; virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true)=0; virtual void activateTexture(int textureIndex)=0; + virtual void replaceTexture(int shapeIndex, int textureIndex){}; + + virtual int getShapeIndexFromInstance(int srcIndex) {return -1;} virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex)=0; @@ -86,7 +89,7 @@ struct CommonRenderInterface virtual int getTotalNumInstances() const = 0; virtual void writeTransforms()=0; - virtual void enableBlend(bool blend)=0; + virtual void clearZBuffer()=0; //This is internal access to OpenGL3+ features, mainly used for OpenCL-OpenGL interop diff --git a/examples/ExampleBrowser/InProcessExampleBrowser.cpp b/examples/ExampleBrowser/InProcessExampleBrowser.cpp index 776973724..9c0572626 100644 --- a/examples/ExampleBrowser/InProcessExampleBrowser.cpp +++ b/examples/ExampleBrowser/InProcessExampleBrowser.cpp @@ -230,6 +230,7 @@ static double gMinUpdateTimeMicroSecs = 4000.; void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory) { + printf("ExampleBrowserThreadFunc started\n"); ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory; @@ -257,7 +258,9 @@ void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory) do { - B3_PROFILE("ExampleBrowserThreadFunc"); + clock.usleep(0); + + //B3_PROFILE("ExampleBrowserThreadFunc"); float deltaTimeInSeconds = clock.getTimeMicroseconds()/1000000.f; { if (deltaTimeInSeconds > 0.1) @@ -266,13 +269,13 @@ void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory) } if (deltaTimeInSeconds < (gMinUpdateTimeMicroSecs/1e6)) { - B3_PROFILE("clock.usleep"); - clock.usleep(gMinUpdateTimeMicroSecs/10.); + //B3_PROFILE("clock.usleep"); exampleBrowser->updateGraphics(); } else { - B3_PROFILE("exampleBrowser->update"); + //B3_PROFILE("exampleBrowser->update"); clock.reset(); + exampleBrowser->updateGraphics(); exampleBrowser->update(deltaTimeInSeconds); } } @@ -429,6 +432,7 @@ void btUpdateInProcessExampleBrowserMainThread(btInProcessExampleBrowserMainThre { float deltaTimeInSeconds = data->m_clock.getTimeMicroseconds()/1000000.f; data->m_clock.reset(); + data->m_exampleBrowser->updateGraphics(); data->m_exampleBrowser->update(deltaTimeInSeconds); } void btShutDownExampleBrowserMainThread(btInProcessExampleBrowserMainThreadInternalData* data) diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp index 7459729af..3de9af446 100644 --- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp +++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp @@ -127,6 +127,8 @@ extern bool useShadowMap; bool visualWireframe=false; static bool renderVisualGeometry=true; static bool renderGrid = true; +static bool gEnableRenderLoop = true; + bool renderGui = true; static bool enable_experimental_opencl = false; @@ -370,6 +372,10 @@ void OpenGLExampleBrowser::registerFileImporter(const char* extension, CommonExa void OpenGLExampleBrowserVisualizerFlagCallback(int flag, bool enable) { + if (flag == COV_ENABLE_RENDERING) + { + gEnableRenderLoop = (enable!=0); + } if (flag == COV_ENABLE_SHADOWS) { useShadowMap = enable; @@ -1185,7 +1191,7 @@ void OpenGLExampleBrowser::updateGraphics() { if (!pauseSimulation || singleStepSimulation) { - B3_PROFILE("sCurrentDemo->updateGraphics"); + //B3_PROFILE("sCurrentDemo->updateGraphics"); sCurrentDemo->updateGraphics(); } } @@ -1193,6 +1199,9 @@ void OpenGLExampleBrowser::updateGraphics() void OpenGLExampleBrowser::update(float deltaTime) { + if (!gEnableRenderLoop) + return; + b3ChromeUtilsEnableProfiling(); B3_PROFILE("OpenGLExampleBrowser::update"); diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp index a02b5dbca..daeefddc6 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp +++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp @@ -292,6 +292,12 @@ int OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int return textureId; } +void OpenGLGuiHelper::changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height) +{ + bool flipPixelsY = true; + m_data->m_glApp->m_renderer->updateTexture(textureUniqueId, rgbTexels,flipPixelsY); +} + int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) { @@ -318,6 +324,18 @@ void OpenGLGuiHelper::removeGraphicsInstance(int graphicsUid) }; } +int OpenGLGuiHelper::getShapeIndexFromInstance(int instanceUid) +{ + return m_data->m_glApp->m_renderer->getShapeIndexFromInstance(instanceUid); +} + +void OpenGLGuiHelper::replaceTexture(int shapeIndex, int textureUid) +{ + if (shapeIndex>=0) + { + m_data->m_glApp->m_renderer->replaceTexture(shapeIndex, textureUid); + }; +} void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4]) { if (instanceUid>=0) diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h index ccc935dcb..52a522e0e 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.h +++ b/examples/ExampleBrowser/OpenGLGuiHelper.h @@ -28,6 +28,10 @@ struct OpenGLGuiHelper : public GUIHelperInterface virtual void removeGraphicsInstance(int graphicsUid); virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]); virtual void changeSpecularColor(int instanceUid, const double specularColor[3]); + virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height); + + virtual int getShapeIndexFromInstance(int instanceUid); + virtual void replaceTexture(int shapeIndex, int textureUid); virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape); diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h index 817536916..33fa0d49b 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.h +++ b/examples/Importers/ImportURDFDemo/UrdfParser.h @@ -156,7 +156,8 @@ struct UrdfLink UrdfLink() :m_parentLink(0), - m_parentJoint(0) + m_parentJoint(0), + m_linkIndex(-2) { } diff --git a/examples/InverseKinematics/InverseKinematicsExample.cpp b/examples/InverseKinematics/InverseKinematicsExample.cpp index 9f2eae900..b224b8b51 100644 --- a/examples/InverseKinematics/InverseKinematicsExample.cpp +++ b/examples/InverseKinematics/InverseKinematicsExample.cpp @@ -198,7 +198,6 @@ public: } virtual ~InverseKinematicsExample() { - m_app->m_renderer->enableBlend(false); } diff --git a/examples/MultiThreading/MultiThreadingExample.cpp b/examples/MultiThreading/MultiThreadingExample.cpp index 92dea68c5..d0ad1ba51 100644 --- a/examples/MultiThreading/MultiThreadingExample.cpp +++ b/examples/MultiThreading/MultiThreadingExample.cpp @@ -176,14 +176,12 @@ public: //int numBodies = 1; m_app->setUpAxis(1); - m_app->m_renderer->enableBlend(true); } virtual ~MultiThreadingExample() { - m_app->m_renderer->enableBlend(false); } diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp index c7fffa36b..c00f41be4 100644 --- a/examples/OpenGLWindow/GLInstancingRenderer.cpp +++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp @@ -115,15 +115,21 @@ static InternalDataRenderer* sData2; GLint lineWidthRange[2]={1,1}; +enum +{ + eGfxTransparency=1, + eGfxHasTexture = 2, +}; + struct b3GraphicsInstance { - GLuint m_cube_vao; - GLuint m_index_vbo; - GLuint m_texturehandle; - + GLuint m_cube_vao; + GLuint m_index_vbo; + GLuint m_textureIndex; int m_numIndices; int m_numVertices; + int m_numGraphicsInstances; b3AlignedObjectArray m_tempObjectUids; int m_instanceOffset; @@ -131,11 +137,12 @@ struct b3GraphicsInstance int m_primitiveType; float m_materialShinyNess; b3Vector3 m_materialSpecularColor; + int m_flags;//transparency etc b3GraphicsInstance() :m_cube_vao(-1), m_index_vbo(-1), - m_texturehandle(0), + m_textureIndex(-1), m_numIndices(-1), m_numVertices(-1), m_numGraphicsInstances(0), @@ -143,7 +150,8 @@ struct b3GraphicsInstance m_vertexArrayOffset(0), m_primitiveType(B3_GL_TRIANGLES), m_materialShinyNess(41), - m_materialSpecularColor(b3MakeVector3(.5,.5,.5)) + m_materialSpecularColor(b3MakeVector3(.5,.5,.5)), + m_flags(0) { } @@ -181,6 +189,7 @@ struct InternalTextureHandle GLuint m_glTexture; int m_width; int m_height; + int m_enableFiltering; }; struct b3PublicGraphicsInstanceData @@ -324,8 +333,7 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap m_textureinitialized(false), m_screenWidth(0), m_screenHeight(0), - m_upAxis(1), - m_enableBlend(false) + m_upAxis(1) { m_data = new InternalDataRenderer; @@ -386,6 +394,15 @@ GLInstancingRenderer::~GLInstancingRenderer() +int GLInstancingRenderer::getShapeIndexFromInstance(int srcIndex) +{ + b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex); + if (pg) + { + return pg->m_shapeIndex; + } + return -1; +} @@ -865,6 +882,10 @@ int GLInstancingRenderer::registerGraphicsInstanceInternal(int newUid, const flo m_data->m_instance_scale_ptr[index*3+1] = scaling[1]; m_data->m_instance_scale_ptr[index*3+2] = scaling[2]; + if (color[3]<1 && color[3]>0) + { + gfxObj->m_flags |= eGfxTransparency; + } gfxObj->m_numGraphicsInstances++; m_data->m_totalNumInstances++; } else @@ -935,7 +956,7 @@ int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width h.m_glTexture = textureHandle; h.m_width = width; h.m_height = height; - + h.m_enableFiltering = true; m_data->m_textureHandles.push_back(h); if (texels) { @@ -945,14 +966,24 @@ int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width } +void GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId) +{ + if (shapeIndex >=0 && shapeIndex < m_data->m_textureHandles.size()) + { + b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex]; + if (textureId>=0) + { + gfxObj->m_textureIndex = textureId; + gfxObj->m_flags |= eGfxHasTexture; + + } + } +} void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY) { if (textureIndex>=0) { - - - glActiveTexture(GL_TEXTURE0); b3Assert(glGetError() ==GL_NO_ERROR); InternalTextureHandle& h = m_data->m_textureHandles[textureIndex]; @@ -981,7 +1012,10 @@ void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&texels[0]); } b3Assert(glGetError() ==GL_NO_ERROR); - glGenerateMipmap(GL_TEXTURE_2D); + if (h.m_enableFiltering) + { + glGenerateMipmap(GL_TEXTURE_2D); + } b3Assert(glGetError() ==GL_NO_ERROR); } } @@ -1018,7 +1052,8 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices, if (textureId>=0) { - gfxObj->m_texturehandle = m_data->m_textureHandles[textureId].m_glTexture; + gfxObj->m_textureIndex = textureId; + gfxObj->m_flags |= eGfxHasTexture; } gfxObj->m_primitiveType = primitiveType; @@ -1898,7 +1933,24 @@ void GLInstancingRenderer::drawLine(const float from[4], const float to[4], cons glUseProgram(0); } +struct SortableTransparentInstance +{ + int m_shapeIndex; + int m_instanceId; + b3Vector3 m_centerPosition; +}; +struct TransparentDistanceSortPredicate +{ + b3Vector3 m_camForwardVec; + + inline bool operator() (const SortableTransparentInstance& a, const SortableTransparentInstance& b) const + { + b3Scalar projA = a.m_centerPosition.dot(m_camForwardVec); + b3Scalar projB = b.m_centerPosition.dot(m_camForwardVec); + return (projA > projB); + } +}; void GLInstancingRenderer::renderSceneInternal(int renderMode) { @@ -2019,9 +2071,9 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode) b3Vector3 center = b3MakeVector3(0,0,0); //float upf[3]; //m_data->m_activeCamera->getCameraUpVector(upf); - b3Vector3 up, fwd; + b3Vector3 up, lightFwd; b3Vector3 lightDir = m_data->m_lightPos.normalized(); - b3PlaneSpace1(lightDir,up,fwd); + b3PlaneSpace1(lightDir,up,lightFwd); // b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]); b3CreateLookAt(m_data->m_lightPos,center,up,&depthViewMatrix[0][0]); //b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2); @@ -2081,198 +2133,315 @@ b3Assert(glGetError() ==GL_NO_ERROR); { totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances; } - - int curOffset = 0; - //GLuint lastBindTexture = 0; - - for (int i=0;i transparentInstances; + { + int curOffset = 0; + //GLuint lastBindTexture = 0; - b3GraphicsInstance* gfxObj = m_graphicsInstances[i]; - if (gfxObj->m_numGraphicsInstances) + transparentInstances.reserve(totalNumInstances); + + for (int obj=0;objm_texturehandle) - curBindTexture = gfxObj->m_texturehandle; - else - curBindTexture = m_data->m_defaultTexturehandle; - -//disable lazy evaluation, it just leads to bugs - //if (lastBindTexture != curBindTexture) + b3GraphicsInstance* gfxObj = m_graphicsInstances[obj]; + if (gfxObj->m_numGraphicsInstances) { - glBindTexture(GL_TEXTURE_2D,curBindTexture); - } - //lastBindTexture = curBindTexture; - -b3Assert(glGetError() ==GL_NO_ERROR); - // int myOffset = gfxObj->m_instanceOffset*4*sizeof(float); - - int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4); - int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4); - int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4); -// int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3); - - glBindVertexArray(gfxObj->m_cube_vao); - - - int vertexStride = 9*sizeof(float); - PointerCaster vertex; - vertex.m_baseIndex = gfxObj->m_vertexArrayOffset*vertexStride; - - - glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9*sizeof(float), vertex.m_pointer); - glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes)); - glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE)); - - PointerCaster uv; - uv.m_baseIndex = 7*sizeof(float)+vertex.m_baseIndex; - - PointerCaster normal; - normal.m_baseIndex = 4*sizeof(float)+vertex.m_baseIndex; - - glVertexAttribPointer(3, 2, GL_FLOAT, GL_FALSE, 9*sizeof(float), uv.m_pointer); - glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, 9*sizeof(float), normal.m_pointer); - glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE)); - glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE)); - - glEnableVertexAttribArray(0); - glEnableVertexAttribArray(1); - glEnableVertexAttribArray(2); - glEnableVertexAttribArray(3); - glEnableVertexAttribArray(4); - glEnableVertexAttribArray(5); - glEnableVertexAttribArray(6); - glVertexAttribDivisor(0, 0); - glVertexAttribDivisor(1, 1); - glVertexAttribDivisor(2, 1); - glVertexAttribDivisor(3, 0); - glVertexAttribDivisor(4, 0); - glVertexAttribDivisor(5, 1); - glVertexAttribDivisor(6, 1); - - - - - - - int indexCount = gfxObj->m_numIndices; - GLvoid* indexOffset = 0; - - glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, gfxObj->m_index_vbo); - { - B3_PROFILE("glDrawElementsInstanced"); - - if (gfxObj->m_primitiveType==B3_GL_POINTS) + SortableTransparentInstance inst; + + inst.m_shapeIndex = obj; + + + if ((gfxObj->m_flags&eGfxTransparency)==0) { - glUseProgram(instancingShaderPointSprite); - glUniformMatrix4fv(ProjectionMatrixPointSprite, 1, false, &m_data->m_projectionMatrix[0]); - glUniformMatrix4fv(ModelViewMatrixPointSprite, 1, false, &m_data->m_viewMatrix[0]); - glUniform1f(screenWidthPointSprite,float(m_screenWidth)); - - //glUniform1i(uniform_texture_diffusePointSprite, 0); - b3Assert(glGetError() ==GL_NO_ERROR); - glPointSize(20); - -#ifndef __APPLE__ - glEnable(GL_POINT_SPRITE_ARB); -// glTexEnvi(GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE); -#endif - - glEnable(GL_VERTEX_PROGRAM_POINT_SIZE); - glDrawElementsInstanced(GL_POINTS, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); + inst.m_instanceId = curOffset; + inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0], + m_data->m_instance_positions_ptr[inst.m_instanceId*4+1], + m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]); + inst.m_centerPosition *= -1;//reverse sort opaque instances + transparentInstances.push_back(inst); } else { - switch (renderMode) + for (int i=0;im_numGraphicsInstances;i++) { - - case B3_DEFAULT_RENDERMODE: - { - glUseProgram(instancingShader); - glUniformMatrix4fv(ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]); - glUniformMatrix4fv(ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]); - - b3Vector3 gLightDir = m_data->m_lightPos; - gLightDir.normalize(); - glUniform3f(regularLightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]); - - glUniform1i(uniform_texture_diffuse, 0); - glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); - break; - } - case B3_CREATE_SHADOWMAP_RENDERMODE: - { - /*printf("createShadowMapInstancingShader=%d\n",createShadowMapInstancingShader); - printf("createShadow_depthMVP=%d\n",createShadow_depthMVP); - printf("indexOffset=%d\n",indexOffset); - printf("gfxObj->m_numGraphicsInstances=%d\n",gfxObj->m_numGraphicsInstances); - printf("indexCount=%d\n",indexCount); - */ - - glUseProgram(createShadowMapInstancingShader); - glUniformMatrix4fv(createShadow_depthMVP, 1, false, &depthMVP[0][0]); - glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); - break; - } - - case B3_USE_SHADOWMAP_RENDERMODE: - { - if (m_enableBlend) - { - glEnable (GL_BLEND); - glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); - } - - glUseProgram(useShadowMapInstancingShader); - glUniformMatrix4fv(useShadow_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]); - glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]); - glUniformMatrix4fv(useShadow_ViewMatrixInverse, 1, false, &m_data->m_viewMatrixInverse[0]); - glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]); - - glUniform3f(useShadow_lightSpecularIntensity, m_data->m_lightSpecularIntensity[0],m_data->m_lightSpecularIntensity[1],m_data->m_lightSpecularIntensity[2]); - glUniform3f(useShadow_materialSpecularColor, gfxObj->m_materialSpecularColor[0],gfxObj->m_materialSpecularColor[1],gfxObj->m_materialSpecularColor[2]); - - - - float MVP[16]; - b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,MVP); - glUniformMatrix4fv(useShadow_MVP, 1, false, &MVP[0]); - //gLightDir.normalize(); - glUniform3f(useShadow_lightPosIn,m_data->m_lightPos[0],m_data->m_lightPos[1],m_data->m_lightPos[2]); - float camPos[3]; - m_data->m_activeCamera->getCameraPosition(camPos); - glUniform3f(useShadow_cameraPositionIn,camPos[0],camPos[1],camPos[2]); - glUniform1f(useShadow_materialShininessIn,gfxObj->m_materialShinyNess); - - glUniformMatrix4fv(useShadow_DepthBiasModelViewMatrix, 1, false, &depthBiasMVP[0][0]); - glActiveTexture(GL_TEXTURE1); - glBindTexture(GL_TEXTURE_2D, m_data->m_shadowTexture); - glUniform1i(useShadow_shadowMap,1); - glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); - if (m_enableBlend) - { - glDisable (GL_BLEND); - } - glActiveTexture(GL_TEXTURE1); - glBindTexture(GL_TEXTURE_2D,0); - - glActiveTexture(GL_TEXTURE0); - glBindTexture(GL_TEXTURE_2D,0); - break; - } - default: - { - // b3Assert(0); - } - }; + inst.m_instanceId = curOffset+i; + inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0], + m_data->m_instance_positions_ptr[inst.m_instanceId*4+1], + m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]); + transparentInstances.push_back(inst); + } + } + curOffset+=gfxObj->m_numGraphicsInstances; + } + } + TransparentDistanceSortPredicate sorter; + float fwd[3]; + m_data->m_activeCamera->getCameraForwardVector(fwd); + sorter.m_camForwardVec.setValue(fwd[0],fwd[1],fwd[2]); + transparentInstances.quickSort(sorter); + } + + + //two passes: first for opaque instances, second for transparent ones. + for (int pass = 0; pass<2;pass++) + { + for (int i=0;im_flags&eGfxTransparency)==0); + + //transparent objects don't cast shadows (to simplify things) + if (gfxObj->m_flags&eGfxTransparency) + { + if (renderMode==B3_CREATE_SHADOWMAP_RENDERMODE) + drawThisPass = 0; + } + + if (drawThisPass && gfxObj->m_numGraphicsInstances) + { + glActiveTexture(GL_TEXTURE0); + GLuint curBindTexture = 0; + if (gfxObj->m_flags & eGfxHasTexture) + { + curBindTexture = m_data->m_textureHandles[gfxObj->m_textureIndex].m_glTexture; + + glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_BASE_LEVEL,0); + + if (m_data->m_textureHandles[gfxObj->m_textureIndex].m_enableFiltering) + { + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + } else + { + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); + } + } + else + { + curBindTexture = m_data->m_defaultTexturehandle; + } + + //disable lazy evaluation, it just leads to bugs + //if (lastBindTexture != curBindTexture) + { + glBindTexture(GL_TEXTURE_2D,curBindTexture); + } + //lastBindTexture = curBindTexture; + + b3Assert(glGetError() ==GL_NO_ERROR); + // int myOffset = gfxObj->m_instanceOffset*4*sizeof(float); + + int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4); + int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4); + int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4); + // int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3); + + glBindVertexArray(gfxObj->m_cube_vao); + + + int vertexStride = 9*sizeof(float); + PointerCaster vertex; + vertex.m_baseIndex = gfxObj->m_vertexArrayOffset*vertexStride; + + + glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9*sizeof(float), vertex.m_pointer); + glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes)); + glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE)); + + PointerCaster uv; + uv.m_baseIndex = 7*sizeof(float)+vertex.m_baseIndex; + + PointerCaster normal; + normal.m_baseIndex = 4*sizeof(float)+vertex.m_baseIndex; + + glVertexAttribPointer(3, 2, GL_FLOAT, GL_FALSE, 9*sizeof(float), uv.m_pointer); + glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, 9*sizeof(float), normal.m_pointer); + glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE)); + glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE)); + + glEnableVertexAttribArray(0); + glEnableVertexAttribArray(1); + glEnableVertexAttribArray(2); + glEnableVertexAttribArray(3); + glEnableVertexAttribArray(4); + glEnableVertexAttribArray(5); + glEnableVertexAttribArray(6); + glVertexAttribDivisor(0, 0); + glVertexAttribDivisor(1, 1); + glVertexAttribDivisor(2, 1); + glVertexAttribDivisor(3, 0); + glVertexAttribDivisor(4, 0); + glVertexAttribDivisor(5, 1); + glVertexAttribDivisor(6, 1); + + + + + + + int indexCount = gfxObj->m_numIndices; + GLvoid* indexOffset = 0; + + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, gfxObj->m_index_vbo); + { + B3_PROFILE("glDrawElementsInstanced"); + + if (gfxObj->m_primitiveType==B3_GL_POINTS) + { + glUseProgram(instancingShaderPointSprite); + glUniformMatrix4fv(ProjectionMatrixPointSprite, 1, false, &m_data->m_projectionMatrix[0]); + glUniformMatrix4fv(ModelViewMatrixPointSprite, 1, false, &m_data->m_viewMatrix[0]); + glUniform1f(screenWidthPointSprite,float(m_screenWidth)); + + //glUniform1i(uniform_texture_diffusePointSprite, 0); + b3Assert(glGetError() ==GL_NO_ERROR); + glPointSize(20); + + #ifndef __APPLE__ + glEnable(GL_POINT_SPRITE_ARB); + // glTexEnvi(GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE); + #endif + + glEnable(GL_VERTEX_PROGRAM_POINT_SIZE); + glDrawElementsInstanced(GL_POINTS, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); + } else + { + switch (renderMode) + { + + case B3_DEFAULT_RENDERMODE: + { + if ( gfxObj->m_flags&eGfxTransparency) + { + glDepthMask(false); + glEnable (GL_BLEND); + glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + } + + glUseProgram(instancingShader); + glUniformMatrix4fv(ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]); + glUniformMatrix4fv(ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]); + + b3Vector3 gLightDir = m_data->m_lightPos; + gLightDir.normalize(); + glUniform3f(regularLightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]); + + glUniform1i(uniform_texture_diffuse, 0); + + if ( gfxObj->m_flags&eGfxTransparency) + { + + int instanceId = transparentInstances[i].m_instanceId; + glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes)); + glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE)); + glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE)); + glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE)); + + glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0); + + } else + { + glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); + } + + if ( gfxObj->m_flags&eGfxTransparency) + { + glDisable (GL_BLEND); + glDepthMask(true); + } + + break; + } + case B3_CREATE_SHADOWMAP_RENDERMODE: + { + glUseProgram(createShadowMapInstancingShader); + glUniformMatrix4fv(createShadow_depthMVP, 1, false, &depthMVP[0][0]); + glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); + break; + } + + case B3_USE_SHADOWMAP_RENDERMODE: + { + if ( gfxObj->m_flags&eGfxTransparency) + { + glDepthMask(false); + glEnable (GL_BLEND); + glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + } + + glUseProgram(useShadowMapInstancingShader); + glUniformMatrix4fv(useShadow_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]); + glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]); + glUniformMatrix4fv(useShadow_ViewMatrixInverse, 1, false, &m_data->m_viewMatrixInverse[0]); + glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]); + + glUniform3f(useShadow_lightSpecularIntensity, m_data->m_lightSpecularIntensity[0],m_data->m_lightSpecularIntensity[1],m_data->m_lightSpecularIntensity[2]); + glUniform3f(useShadow_materialSpecularColor, gfxObj->m_materialSpecularColor[0],gfxObj->m_materialSpecularColor[1],gfxObj->m_materialSpecularColor[2]); + + + + float MVP[16]; + b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,MVP); + glUniformMatrix4fv(useShadow_MVP, 1, false, &MVP[0]); + //gLightDir.normalize(); + glUniform3f(useShadow_lightPosIn,m_data->m_lightPos[0],m_data->m_lightPos[1],m_data->m_lightPos[2]); + float camPos[3]; + m_data->m_activeCamera->getCameraPosition(camPos); + glUniform3f(useShadow_cameraPositionIn,camPos[0],camPos[1],camPos[2]); + glUniform1f(useShadow_materialShininessIn,gfxObj->m_materialShinyNess); + + glUniformMatrix4fv(useShadow_DepthBiasModelViewMatrix, 1, false, &depthBiasMVP[0][0]); + glActiveTexture(GL_TEXTURE1); + glBindTexture(GL_TEXTURE_2D, m_data->m_shadowTexture); + glUniform1i(useShadow_shadowMap,1); + + //sort transparent objects + + //gfxObj->m_instanceOffset + + if ( gfxObj->m_flags&eGfxTransparency) + { + int instanceId = transparentInstances[i].m_instanceId; + glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes)); + glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE)); + glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE)); + glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE)); + glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0); + } else + { + glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); + } + + if ( gfxObj->m_flags&eGfxTransparency) + { + glDisable (GL_BLEND); + glDepthMask(true); + } + glActiveTexture(GL_TEXTURE1); + glBindTexture(GL_TEXTURE_2D,0); + + glActiveTexture(GL_TEXTURE0); + glBindTexture(GL_TEXTURE_2D,0); + break; + } + default: + { + // b3Assert(0); + } + }; + } + + + //glDrawElementsInstanced(GL_LINE_LOOP, indexCount, GL_UNSIGNED_INT, (void*)indexOffset, gfxObj->m_numGraphicsInstances); } - - - //glDrawElementsInstanced(GL_LINE_LOOP, indexCount, GL_UNSIGNED_INT, (void*)indexOffset, gfxObj->m_numGraphicsInstances); } } - curOffset+= gfxObj->m_numGraphicsInstances; } { diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h index 3716b32a6..6d0ea2819 100644 --- a/examples/OpenGLWindow/GLInstancingRenderer.h +++ b/examples/OpenGLWindow/GLInstancingRenderer.h @@ -39,7 +39,7 @@ class GLInstancingRenderer : public CommonRenderInterface int m_screenHeight; int m_upAxis; - bool m_enableBlend; + int registerGraphicsInstanceInternal(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling); void rebuildGraphicsInstances(); @@ -67,7 +67,8 @@ public: virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true); virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true); virtual void activateTexture(int textureIndex); - + virtual void replaceTexture(int shapeIndex, int textureId); + virtual int getShapeIndexFromInstance(int srcIndex); ///position x,y,z, quaternion x,y,z,w, color r,g,b,a, scaling x,y,z virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling); @@ -147,10 +148,7 @@ public: virtual int getTotalNumInstances() const; virtual void enableShadowMap(); - virtual void enableBlend(bool blend) - { - m_enableBlend = blend; - } + virtual void clearZBuffer(); virtual void setRenderFrameBuffer(unsigned int renderFrameBuffer); diff --git a/examples/OpenGLWindow/SimpleCamera.cpp b/examples/OpenGLWindow/SimpleCamera.cpp index 14c2fea5d..76992ef90 100644 --- a/examples/OpenGLWindow/SimpleCamera.cpp +++ b/examples/OpenGLWindow/SimpleCamera.cpp @@ -234,8 +234,15 @@ void SimpleCamera::update() b3Vector3 eyePos = b3MakeVector3(0,0,0); eyePos[forwardAxis] = -m_data->m_cameraDistance; + eyePos = b3Matrix3x3(eyeRot)*eyePos; - m_data->m_cameraForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]); + m_data->m_cameraPosition = eyePos; + + + + m_data->m_cameraPosition+= m_data->m_cameraTargetPosition; + + m_data->m_cameraForward = m_data->m_cameraTargetPosition-m_data->m_cameraPosition; if (m_data->m_cameraForward.length2() < B3_EPSILON) { m_data->m_cameraForward.setValue(1.f,0.f,0.f); @@ -243,12 +250,6 @@ void SimpleCamera::update() { m_data->m_cameraForward.normalize(); } - - eyePos = b3Matrix3x3(eyeRot)*eyePos; - - m_data->m_cameraPosition = eyePos; - m_data->m_cameraPosition+= m_data->m_cameraTargetPosition; - } void SimpleCamera::getCameraProjectionMatrix(float projectionMatrix[16]) const diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp index 715f58721..6431789b2 100644 --- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp +++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp @@ -676,9 +676,6 @@ void SimpleOpenGL2Renderer::updateShape(int shapeIndex, const float* vertices) } } -void SimpleOpenGL2Renderer::enableBlend(bool blend) -{ -} void SimpleOpenGL2Renderer::clearZBuffer() { diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h index a438f4cd5..f57c98a03 100644 --- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h +++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h @@ -83,8 +83,7 @@ public: virtual void updateShape(int shapeIndex, const float* vertices); - virtual void enableBlend(bool blend); - + virtual void clearZBuffer(); diff --git a/examples/RenderingExamples/CoordinateSystemDemo.cpp b/examples/RenderingExamples/CoordinateSystemDemo.cpp index 148db5674..7176298ff 100644 --- a/examples/RenderingExamples/CoordinateSystemDemo.cpp +++ b/examples/RenderingExamples/CoordinateSystemDemo.cpp @@ -37,7 +37,6 @@ public: } virtual ~CoordinateSystemDemo() { - m_app->m_renderer->enableBlend(false); } diff --git a/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp b/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp index 44d005f18..5b2b2b6d9 100644 --- a/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp +++ b/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp @@ -66,7 +66,6 @@ public: virtual ~DynamicTexturedCubeDemo() { delete m_tinyVrGUI; - m_app->m_renderer->enableBlend(false); } diff --git a/examples/RenderingExamples/RenderInstancingDemo.cpp b/examples/RenderingExamples/RenderInstancingDemo.cpp index 069ac46bb..c85824dc9 100644 --- a/examples/RenderingExamples/RenderInstancingDemo.cpp +++ b/examples/RenderingExamples/RenderInstancingDemo.cpp @@ -68,7 +68,6 @@ public: } virtual ~RenderInstancingDemo() { - m_app->m_renderer->enableBlend(false); } diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp index 80584c9a8..a896552ac 100644 --- a/examples/RenderingExamples/TinyRendererSetup.cpp +++ b/examples/RenderingExamples/TinyRendererSetup.cpp @@ -154,7 +154,6 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui) m_app = gui->getAppInterface(); m_internalData = new TinyRendererSetupInternalData(gui->getAppInterface()->m_window->getWidth(),gui->getAppInterface()->m_window->getHeight()); - m_app->m_renderer->enableBlend(true); const char* fileName = "textured_sphere_smooth.obj"; fileName = "cube.obj"; @@ -225,7 +224,6 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui) TinyRendererSetup::~TinyRendererSetup() { - m_app->m_renderer->enableBlend(false); delete m_internalData; } diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp index 075185d61..5b9d5e437 100644 --- a/examples/RoboticsLearning/GripperGraspExample.cpp +++ b/examples/RoboticsLearning/GripperGraspExample.cpp @@ -45,7 +45,6 @@ public: } virtual ~GripperGraspExample() { - m_app->m_renderer->enableBlend(false); } diff --git a/examples/RoboticsLearning/KukaGraspExample.cpp b/examples/RoboticsLearning/KukaGraspExample.cpp index 1bf00785d..99f24f7de 100644 --- a/examples/RoboticsLearning/KukaGraspExample.cpp +++ b/examples/RoboticsLearning/KukaGraspExample.cpp @@ -54,7 +54,6 @@ public: } virtual ~KukaGraspExample() { - m_app->m_renderer->enableBlend(false); } diff --git a/examples/RoboticsLearning/R2D2GraspExample.cpp b/examples/RoboticsLearning/R2D2GraspExample.cpp index d5896ab4e..abe4e6ff5 100644 --- a/examples/RoboticsLearning/R2D2GraspExample.cpp +++ b/examples/RoboticsLearning/R2D2GraspExample.cpp @@ -41,7 +41,6 @@ public: } virtual ~R2D2GraspExample() { - m_app->m_renderer->enableBlend(false); } diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index de1e2e2d9..22ce287a0 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -733,6 +733,7 @@ int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,do if (shapeIndex m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_SPHERE; + command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_sphereRadius = radius; command->m_createCollisionShapeArgs.m_numCollisionShapes++; @@ -753,6 +754,7 @@ int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,doubl if (shapeIndex m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_BOX; + command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[0] = halfExtents[0]; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[1] = halfExtents[1]; @@ -775,6 +777,7 @@ int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,d if (shapeIndex m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CAPSULE; + command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height; @@ -796,6 +799,7 @@ int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, if (shapeIndex m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CYLINDER; + command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height; @@ -818,6 +822,7 @@ int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, do if (shapeIndex m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_PLANE; + command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[0] = planeNormal[0]; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[1] = planeNormal[1]; @@ -841,6 +846,7 @@ int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,cons if (shapeIndex m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_MESH; + command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0; command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0; strcpy(command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshFileName,fileName); command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0]; @@ -856,6 +862,7 @@ int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,cons void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags) { + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE); @@ -1942,6 +1949,20 @@ int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHa return 0; } +int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_USER_CONSTRAINT); + b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT); + + command->m_updateFlags |=USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK; + command->m_userConstraintArguments.m_gearAuxLink = gearAuxLink; + + return 0; +} + + b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId) { PhysicsClient* cl = (PhysicsClient* ) physClient; @@ -2897,6 +2918,25 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu } } +b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels) +{ + PhysicsClient* cl = (PhysicsClient* ) physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type = CMD_CHANGE_TEXTURE; + + command->m_changeTextureArgs.m_textureUniqueId = textureUniqueId; + command->m_changeTextureArgs.m_width = width; + command->m_changeTextureArgs.m_height = height; + int numPixels = width*height; + cl->uploadBulletFileToSharedMemory(rgbPixels,numPixels*3); + command->m_updateFlags = 0; + return (b3SharedMemoryCommandHandle) command; +} + + b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename) { PhysicsClient* cl = (PhysicsClient* ) physClient; @@ -2917,6 +2957,18 @@ b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, return (b3SharedMemoryCommandHandle) command; } +int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle) +{ + int uid = -1; + const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle; + btAssert(status->m_type == CMD_LOAD_TEXTURE_COMPLETED); + if (status->m_type == CMD_LOAD_TEXTURE_COMPLETED) + { + uid = status->m_loadTextureResultArguments.m_textureUniqueId; + } + return uid; +} + b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) { PhysicsClient* cl = (PhysicsClient* ) physClient; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index efa45d495..a0ce40f7b 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -107,7 +107,7 @@ int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHan int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]); int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce); int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio); - +int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink); b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId); @@ -217,6 +217,10 @@ b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientH void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo); b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename); +int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle); + +b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels); + b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId); void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]); void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3]); diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 0877b1d0a..12585e13b 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -1368,7 +1368,9 @@ void PhysicsClientSharedMemory::uploadBulletFileToSharedMemory(const char* data, SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); } else { for (int i = 0; i < len; i++) { - m_data->m_testBlock1->m_bulletStreamDataClientToServer[i] = data[i]; + //m_data->m_testBlock1->m_bulletStreamDataClientToServer[i] = data[i]; + m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[i] = data[i]; + } } } diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index afbf92f0a..d26ff70da 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -1095,6 +1095,14 @@ void PhysicsDirect::setSharedMemoryKey(int key) void PhysicsDirect::uploadBulletFileToSharedMemory(const char* data, int len) { + if (len>SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE) + { + len = SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE; + } + for (int i=0;im_bulletStreamDataServerToClient[i] = data[i]; + } //m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len); } diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index cbddd1ddc..2719f2788 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -14,13 +14,13 @@ #include "../Importers/ImportURDFDemo/UrdfParser.h" #include "../Utils/b3ResourcePath.h" #include "Bullet3Common/b3FileUtils.h" - +#include "../OpenGLWindow/GLInstanceGraphicsShape.h" #include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h" #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" #include "Bullet3Common/b3HashMap.h" #include "../Utils/ChromeTraceUtil.h" - +#include "stb_image/stb_image.h" #include "BulletInverseDynamics/MultiBodyTree.hpp" #include "IKTrajectoryHelper.h" #include "btBulletDynamicsCommon.h" @@ -129,16 +129,17 @@ struct SharedMemoryDebugDrawer : public btIDebugDraw } }; -struct InteralCollisionShapeData +struct InternalCollisionShapeData { btCollisionShape* m_collisionShape; + b3AlignedObjectArray m_urdfCollisionObjects; void clear() { m_collisionShape=0; } }; -struct InteralBodyData +struct InternalBodyData { btMultiBody* m_multiBody; btRigidBody* m_rigidBody; @@ -151,7 +152,7 @@ struct InteralBodyData b3HashMap m_audioSources; #endif //B3_ENABLE_TINY_AUDIO - InteralBodyData() + InternalBodyData() { clear(); } @@ -182,8 +183,20 @@ struct InteralUserConstraintData } }; -typedef b3PoolBodyHandle InternalBodyHandle; -typedef b3PoolBodyHandle InternalCollisionShapeHandle; +struct InternalTextureData +{ + int m_tinyRendererTextureId; + int m_openglTextureId; + void clear() + { + m_tinyRendererTextureId = -1; + m_openglTextureId = -1; + } +}; + +typedef b3PoolBodyHandle InternalTextureHandle; +typedef b3PoolBodyHandle InternalBodyHandle; +typedef b3PoolBodyHandle InternalCollisionShapeHandle; class btCommandChunk { @@ -1144,6 +1157,7 @@ struct ContactPointsStateLogger : public InternalStateLogger struct PhysicsServerCommandProcessorInternalData { ///handle management + b3ResizablePool< InternalTextureHandle > m_textureHandles; b3ResizablePool< InternalBodyHandle > m_bodyHandles; b3ResizablePool m_userCollisionShapeHandles; @@ -1268,7 +1282,7 @@ struct PhysicsServerCommandProcessorInternalData int handle = allocHandle(); bla.push_back(handle); InternalBodyHandle* body = getHandle(handle); - InteralBodyData* body2 = body; + InternalBodyData* body2 = body; } for (int i=0;im_customVisualShapesConverter) + //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) + { + InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(colShapeUniqueId); + if (handle) { - const UrdfModel& model = m_data->m_urdfParser.getModel(); - UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex); - if (linkPtr) + for (int i=0;im_urdfCollisionObjects.size();i++) { - m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj, bodyUniqueId); + link.m_collisionArray.push_back(handle->m_urdfCollisionObjects[i]); } } } - #endif + //UrdfVisual vis; + //link.m_visualArray.push_back(vis); + //UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex); + m_data->m_visualConverter.convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, &link, &model, colObj, bodyUniqueId); } virtual void setBodyUniqueId(int bodyId) { @@ -2671,7 +2692,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID)&& (clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds>0)) { int bodyUniqueId = clientCmd.m_stateLoggingArguments.m_bodyUniqueIds[0]; - InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); if (body) { if (body->m_multiBody) @@ -3248,7 +3269,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm for (int i=0;im_bodyHandles.getHandle(usedHandle); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(usedHandle); if (body && (body->m_multiBody || body->m_rigidBody)) { serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle; @@ -3337,7 +3358,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { { int bodyUniqueId = sd.m_bodyUniqueIds[i]; - InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); if (body) { if (body->m_multiBody) @@ -3588,6 +3609,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_data->m_dynamicsWorld); btCollisionShape* shape = 0; + b3AlignedObjectArray urdfCollisionObjects; btCompoundShape* compound = 0; @@ -3597,6 +3619,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } for (int i=0;iaddChildShape(childTransform,shape); } + urdfColObj.m_geometry.m_type = URDF_GEOM_SPHERE; + urdfColObj.m_geometry.m_sphereRadius = radius; break; } case GEOM_BOX: { //double halfExtents[3] = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_sphereRadius; - shape = worldImporter->createBoxShape(btVector3( + btVector3 halfExtents( clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[0], clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[1], - clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[2])); + clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[2]); + shape = worldImporter->createBoxShape(halfExtents); if (compound) { compound->addChildShape(childTransform,shape); } + urdfColObj.m_geometry.m_type = URDF_GEOM_BOX; + urdfColObj.m_geometry.m_boxSize = 2.*halfExtents; break; } case GEOM_CAPSULE: @@ -3649,6 +3683,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { compound->addChildShape(childTransform,shape); } + urdfColObj.m_geometry.m_type = URDF_GEOM_CAPSULE; + urdfColObj.m_geometry.m_capsuleRadius = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleRadius; + urdfColObj.m_geometry.m_capsuleHeight = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleHeight; + break; } case GEOM_CYLINDER: @@ -3659,6 +3697,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { compound->addChildShape(childTransform,shape); } + urdfColObj.m_geometry.m_type = URDF_GEOM_CYLINDER; + urdfColObj.m_geometry.m_capsuleRadius = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleRadius; + urdfColObj.m_geometry.m_capsuleHeight = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleHeight; + break; } case GEOM_PLANE: @@ -3672,6 +3714,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { compound->addChildShape(childTransform,shape); } + urdfColObj.m_geometry.m_type = URDF_GEOM_PLANE; + urdfColObj.m_geometry.m_planeNormal.setValue( + clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_planeNormal[0], + clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_planeNormal[1], + clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_planeNormal[2]); + break; } case GEOM_MESH: @@ -3685,7 +3733,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm const std::string& urdf_path=""; std::string fileName = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshFileName; - + urdfColObj.m_geometry.m_type = URDF_GEOM_MESH; + urdfColObj.m_geometry.m_meshFileName = fileName; + + urdfColObj.m_geometry.m_meshScale = meshScale; char relativeFileName[1024]; char pathPrefix[1024]; pathPrefix[0] = 0; @@ -3702,52 +3753,103 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName,error_message_prefix,&out_found_filename, &out_type); if (foundFile) { + urdfColObj.m_geometry.m_meshFileType = out_type; + if (out_type==UrdfGeometry::FILE_OBJ) { - std::vector shapes; - std::string err = tinyobj::LoadObj(shapes,out_found_filename.c_str()); //create a convex hull for each shape, and store it in a btCompoundShape - //shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale); - //static btCollisionShape* createConvexHullFromShapes(std::vector& shapes, const btVector3& geomScale) - B3_PROFILE("createConvexHullFromShapes"); - if (compound==0) + if (clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_collisionFlags&GEOM_FORCE_CONCAVE_TRIMESH) { - compound = worldImporter->createCompoundShape(); - } - compound->setMargin(defaultCollisionMargin); - - for (int s = 0; s<(int)shapes.size(); s++) - { - btConvexHullShape* convexHull = worldImporter->createConvexHullShape(); - convexHull->setMargin(defaultCollisionMargin); - tinyobj::shape_t& shape = shapes[s]; - int faceCount = shape.mesh.indices.size(); - - for (int f = 0; fm_numvertices<=0) { - - btVector3 pt; - pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]); - - convexHull->addPoint(pt*meshScale,false); - - pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]); - convexHull->addPoint(pt*meshScale, false); - - pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]); - convexHull->addPoint(pt*meshScale, false); + b3Warning("%s: cannot extract mesh from '%s'\n", pathPrefix, relativeFileName); + delete glmesh; + break; + } + btAlignedObjectArray convertedVerts; + convertedVerts.reserve(glmesh->m_numvertices); + + for (int i=0; im_numvertices; i++) + { + convertedVerts.push_back(btVector3( + glmesh->m_vertices->at(i).xyzw[0]*meshScale[0], + glmesh->m_vertices->at(i).xyzw[1]*meshScale[1], + glmesh->m_vertices->at(i).xyzw[2]*meshScale[2])); } - convexHull->recalcLocalAabb(); - convexHull->optimizeConvexHull(); - compound->addChildShape(childTransform,convexHull); + BT_PROFILE("convert trimesh"); + btTriangleMesh* meshInterface = new btTriangleMesh(); + { + BT_PROFILE("convert vertices"); + + for (int i=0; im_numIndices/3; i++) + { + const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i*3)]; + const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i*3+1)]; + const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i*3+2)]; + meshInterface->addTriangle(v0,v1,v2); + } + } + { + BT_PROFILE("create btBvhTriangleMeshShape"); + btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true); + //trimesh->setLocalScaling(collision->m_geometry.m_meshScale); + shape = trimesh; + if (compound) + { + compound->addChildShape(childTransform,shape); + } + } + } else + { + + std::vector shapes; + std::string err = tinyobj::LoadObj(shapes,out_found_filename.c_str()); + + //shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale); + //static btCollisionShape* createConvexHullFromShapes(std::vector& shapes, const btVector3& geomScale) + B3_PROFILE("createConvexHullFromShapes"); + if (compound==0) + { + compound = worldImporter->createCompoundShape(); + } + compound->setMargin(defaultCollisionMargin); + + for (int s = 0; s<(int)shapes.size(); s++) + { + btConvexHullShape* convexHull = worldImporter->createConvexHullShape(); + convexHull->setMargin(defaultCollisionMargin); + tinyobj::shape_t& shape = shapes[s]; + int faceCount = shape.mesh.indices.size(); + + for (int f = 0; faddPoint(pt*meshScale,false); + + pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0], + shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1], + shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]); + convexHull->addPoint(pt*meshScale, false); + + pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0], + shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1], + shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]); + convexHull->addPoint(pt*meshScale, false); + } + + convexHull->recalcLocalAabb(); + convexHull->optimizeConvexHull(); + compound->addChildShape(childTransform,convexHull); + } } } } @@ -3757,7 +3859,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { } } + if (urdfColObj.m_geometry.m_type != URDF_GEOM_UNKNOWN) + { + urdfCollisionObjects.push_back(urdfColObj); + } } + + #if 0 shape = worldImporter->createCylinderShapeX(radius,height); shape = worldImporter->createCylinderShapeY(radius,height); @@ -3777,6 +3885,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm int collisionShapeUid = m_data->m_userCollisionShapeHandles.allocHandle(); InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(collisionShapeUid); handle->m_collisionShape = shape; + for (int i=0;im_urdfCollisionObjects.push_back(urdfCollisionObjects[i]); + } serverStatusOut.m_createCollisionShapeResultArgs.m_collisionShapeUniqueId = collisionShapeUid; m_data->m_worldImporters.push_back(worldImporter); serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_COMPLETED; @@ -3860,7 +3972,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize(); } serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; - InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str()); } } @@ -3925,7 +4037,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize(); } serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; - InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str()); hasStatus = true; @@ -3997,7 +4109,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm b3Printf("Processed CMD_CREATE_SENSOR"); } int bodyUniqueId = clientCmd.m_createSensorArguments.m_bodyUniqueId; - InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); if (body && body->m_multiBody) { btMultiBody* mb = body->m_multiBody; @@ -4117,7 +4229,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } int bodyUniqueId = clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId; - InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); if (body && body->m_multiBody) { @@ -4307,7 +4419,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_FAILED; hasStatus=true; int bodyUniqueId = clientCmd.m_requestCollisionInfoArgs.m_bodyUniqueId; - InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); if (body && body->m_multiBody) @@ -4408,7 +4520,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm b3Printf("Sending the actual state (Q,U)"); } int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId; - InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); if (body && body->m_multiBody) @@ -4725,7 +4837,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm btAssert(bodyUniqueId >= 0); btAssert(linkIndex >= -1); - InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); if (body && body->m_multiBody) { @@ -4911,7 +5023,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { int bodyUniqueId = clientCmd.m_getDynamicsInfoArgs.m_bodyUniqueId; int linkIndex = clientCmd.m_getDynamicsInfoArgs.m_linkIndex; - InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); if (body && body->m_multiBody) { SharedMemoryStatus& serverCmd = serverStatusOut; @@ -5052,7 +5164,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm b3Printf("Server Init Pose not implemented yet"); } int bodyUniqueId = clientCmd.m_initPoseArgs.m_bodyUniqueId; - InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); btVector3 baseLinVel(0, 0, 0); btVector3 baseAngVel(0, 0, 0); @@ -5646,7 +5758,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm if (bodyUniqueIdA >= 0) { - InteralBodyData* bodyA = m_data->m_bodyHandles.getHandle(bodyUniqueIdA); + InternalBodyData* bodyA = m_data->m_bodyHandles.getHandle(bodyUniqueIdA); if (bodyA) { if (bodyA->m_multiBody) @@ -5680,7 +5792,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } if (bodyUniqueIdB>=0) { - InteralBodyData* bodyB = m_data->m_bodyHandles.getHandle(bodyUniqueIdB); + InternalBodyData* bodyB = m_data->m_bodyHandles.getHandle(bodyUniqueIdB); if (bodyB) { if (bodyB->m_multiBody) @@ -5949,7 +6061,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i) { - InteralBodyData* body = m_data->m_bodyHandles.getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]); bool isLinkFrame = ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_LINK_FRAME) != 0); if (body && body->m_multiBody) @@ -6155,12 +6267,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm if (clientCmd.m_updateFlags & USER_CONSTRAINT_ADD_CONSTRAINT) { btScalar defaultMaxForce = 500.0; - InteralBodyData* parentBody = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex); + InternalBodyData* parentBody = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex); if (parentBody && parentBody->m_multiBody) { if ((clientCmd.m_userConstraintArguments.m_parentJointIndex>=-1) && clientCmd.m_userConstraintArguments.m_parentJointIndex < parentBody->m_multiBody->getNumLinks()) { - InteralBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0; + InternalBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0; //also create a constraint with just a single multibody/rigid body without child //if (childBody) { @@ -6314,7 +6426,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } else { - InteralBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0; + InternalBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0; if (parentBody && childBody) { @@ -6398,6 +6510,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { userConstraintPtr->m_mbConstraint->setGearRatio(clientCmd.m_userConstraintArguments.m_gearRatio); } + if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK) + { + userConstraintPtr->m_mbConstraint->setGearAuxLink(clientCmd.m_userConstraintArguments.m_gearAuxLink); + } } if (userConstraintPtr->m_rbConstraint) @@ -6659,12 +6775,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm BT_PROFILE("CMD_UPDATE_VISUAL_SHAPE"); SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED; - + InternalTextureHandle* texHandle = 0; + if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) { + texHandle = m_data->m_textureHandles.getHandle(clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId); + if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId>=0) { - m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId); + if (texHandle) + { + m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId); + } } } @@ -6681,10 +6803,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { if (bodyHandle->m_multiBody->getBaseCollider()) { - m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex(); + if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) + { + if (texHandle) + { + int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex); + m_data->m_guiHelper->replaceTexture(shapeIndex,texHandle->m_openglTextureId); + } + } if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) { + m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); } if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) @@ -6699,10 +6829,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider) { - m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex(); + if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) + { + if (texHandle) + { + int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex); + m_data->m_guiHelper->replaceTexture(shapeIndex,texHandle->m_openglTextureId); + } + } if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) { + m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); } if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) @@ -6725,25 +6863,77 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm break; } - case CMD_LOAD_TEXTURE: - { - BT_PROFILE("CMD_LOAD_TEXTURE"); - SharedMemoryStatus& serverCmd = serverStatusOut; - serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED; - - int uid = m_data->m_visualConverter.loadTextureFile(clientCmd.m_loadTextureArguments.m_textureFileName); - - if (uid>=0) - { - serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED; - } else - { - serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED; - } + + case CMD_CHANGE_TEXTURE: + { + SharedMemoryStatus& serverCmd = serverStatusOut; + serverCmd.m_type = CMD_CHANGE_TEXTURE_COMMAND_FAILED; + + InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(clientCmd.m_changeTextureArgs.m_textureUniqueId); + if(texH) + { + int gltex = texH->m_openglTextureId; + m_data->m_guiHelper->changeTexture(gltex, + (const unsigned char*)bufferServerToClient, clientCmd.m_changeTextureArgs.m_width,clientCmd.m_changeTextureArgs.m_height); + + serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED; + } hasStatus = true; - break; - } + } + case CMD_LOAD_TEXTURE: + { + BT_PROFILE("CMD_LOAD_TEXTURE"); + SharedMemoryStatus& serverCmd = serverStatusOut; + serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED; + + char relativeFileName[1024]; + char pathPrefix[1024]; + + if(b3ResourcePath::findResourcePath(clientCmd.m_loadTextureArguments.m_textureFileName,relativeFileName,1024)) + { + b3FileUtils::extractPath(relativeFileName,pathPrefix,1024); + + int texHandle = m_data->m_textureHandles.allocHandle(); + InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle); + if(texH) + { + texH->m_tinyRendererTextureId = -1; + texH->m_openglTextureId = -1; + + int uid = m_data->m_visualConverter.loadTextureFile(relativeFileName); + if(uid>=0) + { + int m_tinyRendererTextureId; + texH->m_tinyRendererTextureId = uid; + } + + { + int width,height,n; + unsigned char* imageData= stbi_load(relativeFileName,&width,&height,&n,3); + + if(imageData) + { + texH->m_openglTextureId = m_data->m_guiHelper->registerTexture(imageData,width,height); + free(imageData); + } + else + { + b3Warning("Unsupported texture image format [%s]\n",relativeFileName); + } + } + serverCmd.m_loadTextureResultArguments.m_textureUniqueId = texHandle; + serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED; + } + } + else + { + serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED; + } + hasStatus = true; + + break; + } case CMD_LOAD_BULLET: { @@ -6938,7 +7128,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm if ((clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR) || (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR)) { int bodyUniqueId = clientCmd.m_userDebugDrawArgs.m_objectUniqueId; - InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); + InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); if (body) { btCollisionObject* destColObj = 0; diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 294381583..80968c880 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -131,6 +131,9 @@ enum MultiThreadedGUIHelperCommunicationEnums eGUIHelperChangeGraphicsInstanceRGBAColor, eGUIHelperChangeGraphicsInstanceSpecularColor, eGUIHelperSetVisualizerFlag, + eGUIHelperChangeGraphicsInstanceTextureId, + eGUIHelperGetShapeIndexFromInstance, + eGUIHelperChangeTexture, }; @@ -932,6 +935,46 @@ public: m_cs->setSharedParam(1,eGUIHelperRemoveGraphicsInstance); workerThreadWait(); } + + int m_getShapeIndex_instance; + int getShapeIndex_shapeIndex; + + virtual int getShapeIndexFromInstance(int instance) + { + m_getShapeIndex_instance = instance; + m_cs->lock(); + m_cs->setSharedParam(1,eGUIHelperGetShapeIndexFromInstance); + workerThreadWait(); + return getShapeIndex_shapeIndex; + } + + int m_graphicsInstanceChangeTextureId; + int m_graphicsInstanceChangeTextureShapeIndex; + virtual void replaceTexture(int shapeIndex, int textureUid) + { + m_graphicsInstanceChangeTextureShapeIndex = shapeIndex; + m_graphicsInstanceChangeTextureId = textureUid; + m_cs->lock(); + m_cs->setSharedParam(1,eGUIHelperChangeGraphicsInstanceTextureId); + workerThreadWait(); + } + + + int m_changeTextureUniqueId; + const unsigned char* m_changeTextureRgbTexels; + int m_changeTextureWidth; + int m_changeTextureHeight; + + virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height) + { + m_changeTextureUniqueId = textureUniqueId; + m_changeTextureRgbTexels = rgbTexels; + m_changeTextureWidth = width; + m_changeTextureHeight = height; + m_cs->lock(); + m_cs->setSharedParam(1,eGUIHelperChangeTexture); + workerThreadWait(); + } double m_rgbaColor[4]; int m_graphicsInstanceChangeColor; @@ -1913,6 +1956,34 @@ void PhysicsServerExample::updateGraphics() break; } + case eGUIHelperGetShapeIndexFromInstance: + { + m_multiThreadedHelper->getShapeIndex_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->getShapeIndexFromInstance(m_multiThreadedHelper->m_getShapeIndex_instance); + m_multiThreadedHelper->mainThreadRelease(); + break; + } + + case eGUIHelperChangeGraphicsInstanceTextureId: + { + m_multiThreadedHelper->m_childGuiHelper->replaceTexture( + m_multiThreadedHelper->m_graphicsInstanceChangeTextureShapeIndex, + m_multiThreadedHelper->m_graphicsInstanceChangeTextureId); + m_multiThreadedHelper->mainThreadRelease(); + break; + } + + + case eGUIHelperChangeTexture: + { + m_multiThreadedHelper->m_childGuiHelper->changeTexture( + m_multiThreadedHelper->m_changeTextureUniqueId, + m_multiThreadedHelper->m_changeTextureRgbTexels, + m_multiThreadedHelper->m_changeTextureWidth, + m_multiThreadedHelper->m_changeTextureHeight); + m_multiThreadedHelper->mainThreadRelease(); + break; + } + case eGUIHelperChangeGraphicsInstanceRGBAColor: { m_multiThreadedHelper->m_childGuiHelper->changeRGBAColor(m_multiThreadedHelper->m_graphicsInstanceChangeColor,m_multiThreadedHelper->m_rgbaColor); diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 9658d6e6c..a5db4cd71 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -283,6 +283,11 @@ struct LoadTextureArgs char m_textureFileName[MAX_FILENAME_LENGTH]; }; +struct b3LoadTextureResultArgs +{ + int m_textureUniqueId; +}; + struct SendVisualShapeDataArgs { int m_bodyUniqueId; @@ -645,6 +650,8 @@ enum EnumUserConstraintFlags USER_CONSTRAINT_CHANGE_MAX_FORCE=32, USER_CONSTRAINT_REQUEST_INFO=64, USER_CONSTRAINT_CHANGE_GEAR_RATIO=128, + USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK=256, + }; enum EnumBodyChangeFlags @@ -891,6 +898,12 @@ struct b3CreateMultiBodyResultArgs int m_bodyUniqueId; }; +struct b3ChangeTextureArgs +{ + int m_textureUniqueId; + int m_width; + int m_height; +}; struct SharedMemoryCommand { @@ -943,6 +956,7 @@ struct SharedMemoryCommand struct b3CreateVisualShapeArgs m_createVisualShapeArgs; struct b3CreateMultiBodyArgs m_createMultiBodyArgs; struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs; + struct b3ChangeTextureArgs m_changeTextureArgs; }; }; @@ -1013,6 +1027,7 @@ struct SharedMemoryStatus struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs; struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs; struct SendMouseEvents m_sendMouseEvents; + struct b3LoadTextureResultArgs m_loadTextureResultArguments; }; }; diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp index 8b5200f6b..5a545795b 100644 --- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp +++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp @@ -4,6 +4,7 @@ #include "PhysicsClientSharedMemory.h" #include"../ExampleBrowser/InProcessExampleBrowser.h" +#include #include "PhysicsServerExampleBullet2.h" @@ -52,12 +53,12 @@ public: } } { - unsigned long int ms = m_clock.getTimeMilliseconds(); - if (ms>20) + //unsigned long int ms = m_clock.getTimeMilliseconds(); + //if (ms>2) { - B3_PROFILE("m_clock.reset()"); + // B3_PROFILE("m_clock.reset()"); - m_clock.reset(); + // m_clock.reset(); btUpdateInProcessExampleBrowserMainThread(m_data); } } @@ -165,7 +166,8 @@ public: // return non-null if there is a status, nullptr otherwise virtual const struct SharedMemoryStatus* processServerStatus() { - //m_physicsServerExample->updateGraphics(); + printf("updating graphics!\n"); + m_physicsServerExample->updateGraphics(); unsigned long long int curTime = m_clock.getTimeMicroseconds(); unsigned long long int dtMicro = curTime - m_prevTime; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 882db7a24..55de32c57 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -4,7 +4,8 @@ #define SHARED_MEMORY_KEY 12347 ///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures ///my convention is year/month/day/rev -#define SHARED_MEMORY_MAGIC_NUMBER 201706015 +#define SHARED_MEMORY_MAGIC_NUMBER 201707140 +//#define SHARED_MEMORY_MAGIC_NUMBER 201706015 //#define SHARED_MEMORY_MAGIC_NUMBER 201706001 //#define SHARED_MEMORY_MAGIC_NUMBER 201703024 @@ -67,6 +68,7 @@ enum EnumSharedMemoryClientCommand CMD_CREATE_MULTI_BODY, CMD_REQUEST_COLLISION_INFO, CMD_REQUEST_MOUSE_EVENTS_DATA, + CMD_CHANGE_TEXTURE, //don't go beyond this command! CMD_MAX_CLIENT_COMMANDS, @@ -161,6 +163,7 @@ enum EnumSharedMemoryServerStatus CMD_REQUEST_COLLISION_INFO_COMPLETED, CMD_REQUEST_COLLISION_INFO_FAILED, CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED, + CMD_CHANGE_TEXTURE_COMMAND_FAILED, //don't go beyond 'CMD_MAX_SERVER_COMMANDS! CMD_MAX_SERVER_COMMANDS }; @@ -235,6 +238,7 @@ struct b3UserConstraint double m_maxAppliedForce; int m_userConstraintUniqueId; double m_gearRatio; + int m_gearAuxLink; }; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index f18becf58..f804dcb3f 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -506,6 +506,15 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi } +static btVector4 sColors[4] = +{ + btVector4(60./256.,186./256.,84./256.,1), + btVector4(244./256.,194./256.,13./256.,1), + btVector4(219./256.,50./256.,54./256.,1), + btVector4(72./256.,133./256.,237./256.,1), + + //btVector4(1,1,0,1), +}; void TinyRendererVisualShapeConverter::convertVisualShapes( @@ -546,7 +555,17 @@ void TinyRendererVisualShapeConverter::convertVisualShapes( } btTransform childTrans = vis->m_linkLocalFrame; - float rgbaColor[4] = {1,1,1,1}; + + + int colorIndex = colObj? colObj->getBroadphaseHandle()->getUid() & 3 : 0; + + btVector4 color; + color = sColors[colorIndex]; + float rgbaColor[4] = {color[0],color[1],color[2],color[3]}; + if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE) + { + color.setValue(1,1,1,1); + } if (model && useVisual) { btHashString matName(linkPtr->m_visualArray[v1].m_materialName.c_str()); @@ -1051,12 +1070,15 @@ void TinyRendererVisualShapeConverter::resetAll() void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId) { btAssert(textureUniqueId < m_data->m_textures.size()); - TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId); - if (ptrptr && *ptrptr) - { - TinyRendererObjectArray* ptr = *ptrptr; - ptr->m_renderObjects[0]->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData,m_data->m_textures[textureUniqueId].m_width,m_data->m_textures[textureUniqueId].m_height); - } + if (textureUniqueId>=0 && textureUniqueIdm_textures.size()) + { + TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId); + if (ptrptr && *ptrptr) + { + TinyRendererObjectArray* ptr = *ptrptr; + ptr->m_renderObjects[0]->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData,m_data->m_textures[textureUniqueId].m_width,m_data->m_textures[textureUniqueId].m_height); + } + } } void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) @@ -1066,18 +1088,26 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, { if (m_data->m_visualShapes[i].m_objectUniqueId == objectUniqueId && m_data->m_visualShapes[i].m_linkIndex == jointIndex) { - start = i; - break; - } - } - - if (start >= 0) - { - if (start + shapeIndex < m_data->m_visualShapes.size()) - { - activateShapeTexture(start + shapeIndex, textureUniqueId); + if (shapeIndex<0) + { + activateShapeTexture(i, textureUniqueId); + } else + { + start = i; + break; + } } } + if (shapeIndex>=0) + { + if (start >= 0) + { + if (start + shapeIndex < m_data->m_visualShapes.size()) + { + activateShapeTexture(start + shapeIndex, textureUniqueId); + } + } + } } int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height) diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp index a430ea615..5936e7cf0 100644 --- a/examples/StandaloneMain/hellovr_opengl_main.cpp +++ b/examples/StandaloneMain/hellovr_opengl_main.cpp @@ -373,8 +373,8 @@ void MyKeyboardCallback(int key, int state) #include "../SharedMemory/SharedMemoryPublic.h" extern bool useShadowMap; -bool gEnableVRRenderControllers=true; - +static bool gEnableVRRenderControllers=true; +static bool gEnableVRRendering = true; void VRPhysicsServerVisualizerFlagCallback(int flag, bool enable) @@ -391,7 +391,10 @@ void VRPhysicsServerVisualizerFlagCallback(int flag, bool enable) { gEnableVRRenderControllers = enable; } - + if (flag == COV_ENABLE_RENDERING) + { + gEnableVRRendering = enable; + } if (flag == COV_ENABLE_WIREFRAME) @@ -887,13 +890,18 @@ void CMainApplication::RunMainLoop() while ( !bQuit && !m_app->m_window->requestedExit()) { b3ChromeUtilsEnableProfiling(); + if (gEnableVRRendering) { - B3_PROFILE("main"); + B3_PROFILE("main"); - bQuit = HandleInput(); + bQuit = HandleInput(); - RenderFrame(); - } + RenderFrame(); + } else + { + b3Clock::usleep(0); + sExample->updateGraphics(); + } } } diff --git a/examples/Tutorial/Tutorial.cpp b/examples/Tutorial/Tutorial.cpp index f59209a7c..8d43daac2 100644 --- a/examples/Tutorial/Tutorial.cpp +++ b/examples/Tutorial/Tutorial.cpp @@ -300,7 +300,6 @@ public: int numBodies = 1; m_app->setUpAxis(1); - m_app->m_renderer->enableBlend(true); switch (m_tutorialIndex) { @@ -405,7 +404,7 @@ public: { int width,height,n; - const char* filename = "data/cube.png"; + const char* filename = "data/checker_huge.gif"; const unsigned char* image=0; const char* prefix[]={"./","../","../../","../../../","../../../../"}; @@ -426,15 +425,23 @@ public: } // int boxId = m_app->registerCubeShape(1,1,1,textureIndex); - int boxId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex); - b3Vector4 color = b3MakeVector4(1,1,1,0.8); + int sphereTransparent = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex); + int sphereOpaque= m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex); + b3Vector3 scaling = b3MakeVector3(SPHERE_RADIUS,SPHERE_RADIUS,SPHERE_RADIUS); for (int i=0;im_collisionShape.m_sphere.m_radius = SPHERE_RADIUS; m_bodies[i]->m_collisionShape.m_type = LW_SPHERE_TYPE; - m_bodies[i]->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(boxId,m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation,color,scaling); + m_bodies[i]->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(gfxShape,m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation,color,scaling); m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex); } } @@ -467,7 +474,6 @@ public: m_timeSeriesCanvas0 = 0; m_timeSeriesCanvas1 = 0; - m_app->m_renderer->enableBlend(false); } diff --git a/examples/Utils/ChromeTraceUtil.cpp b/examples/Utils/ChromeTraceUtil.cpp index 02a892ba5..fefa9171c 100644 --- a/examples/Utils/ChromeTraceUtil.cpp +++ b/examples/Utils/ChromeTraceUtil.cpp @@ -250,18 +250,25 @@ void b3ChromeUtilsStopTimingsAndWriteJsonFile(const char* fileNamePrefix) static int fileCounter = 0; sprintf(fileName,"%s_%d.json",fileNamePrefix, fileCounter++); gTimingFile = fopen(fileName,"w"); - fprintf(gTimingFile,"{\"traceEvents\":[\n"); - //dump the content to file - for (int i=0;i= numJoints) || (jointIndex < 0)) { Py_DECREF(jointIndicesSeq); @@ -4551,6 +4551,75 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb return Py_None; } + +static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject* keywds) +{ + b3SharedMemoryCommandHandle commandHandle = 0; + b3SharedMemoryStatusHandle statusHandle=0; + int statusType = -1; + int textureUniqueId = -1; + int physicsClientId = 0; + int width=-1; + int height=-1; + + PyObject* pixelsObj = 0; + + b3PhysicsClientHandle sm = 0; + static char* kwlist[] = {"textureUniqueId", "pixels", "width", "height", "physicsClientId", NULL}; + if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOii|i", kwlist, &textureUniqueId, &pixelsObj, &width, &height, &physicsClientId)) + { + return NULL; + } + sm = getPhysicsClient(physicsClientId); + if (sm == 0) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + if (textureUniqueId>=0 && width>=0 && height>=0 && pixelsObj) + { + PyObject* seqPixels = PySequence_Fast(pixelsObj, "expected a sequence"); + PyObject* item; + int i; + int numPixels = width*height; + unsigned char* pixelBuffer = (unsigned char*) malloc (numPixels*3); + if (PyList_Check(seqPixels)) + { + for (i=0;i=0) + { + b3InitChangeUserConstraintSetGearAuxLink(commandHandle,gearAuxLink); + } statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); statusType = b3GetStatusType(statusHandle); Py_INCREF(Py_None); @@ -5008,7 +5080,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P pybullet_internalSetVectord(planeNormalObj,planeNormal); shapeIndex = b3CreateCollisionShapeAddPlane(commandHandle, planeNormal, planeConstant); } - if (shapeIndex && flags) + if (shapeIndex>=0 && flags) { b3CreateCollisionSetFlag(commandHandle,shapeIndex,flags); } @@ -5180,14 +5252,16 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje double linkJointAxis[3]; double linkInertialFramePosition[3]; double linkInertialFrameOrientation[4]; - + int linkParentIndex; + int linkJointType; + pybullet_internalGetVector3FromSequence(seqLinkInertialFramePositions,i,linkInertialFramePosition); pybullet_internalGetVector4FromSequence(linkInertialFrameOrientationObj,i,linkInertialFrameOrientation); pybullet_internalGetVector3FromSequence(seqLinkPositions,i,linkPosition); pybullet_internalGetVector4FromSequence(seqLinkOrientations,i,linkOrientation); pybullet_internalGetVector3FromSequence(seqLinkJoinAxis,i,linkJointAxis); - int linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices,i); - int linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes,i); + linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices,i); + linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes,i); b3CreateMultiBodyLink(commandHandle, linkMass, @@ -7019,6 +7093,9 @@ static PyMethodDef SpamMethods[] = { {"loadTexture", (PyCFunction)pybullet_loadTexture, METH_VARARGS | METH_KEYWORDS, "Load texture file."}, + {"changeTexture", (PyCFunction)pybullet_changeTexture, METH_VARARGS | METH_KEYWORDS, + "Change a texture file."}, + {"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS, "Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to " "quaternion [x,y,z,w]"}, @@ -7147,14 +7224,22 @@ PyMODINIT_FUNC #if PY_MAJOR_VERSION >= 3 PyInit_pybullet(void) #else +#ifdef BT_USE_EGL +initpybullet_egl(void) +#else initpybullet(void) +#endif //BT_USE_EGL #endif { PyObject* m; #if PY_MAJOR_VERSION >= 3 m = PyModule_Create(&moduledef); +#else +#ifdef BT_USE_EGL + m = Py_InitModule3("pybullet_egl", SpamMethods, "Python bindings for Bullet"); #else m = Py_InitModule3("pybullet", SpamMethods, "Python bindings for Bullet"); +#endif //BT_USE_EGL #endif #if PY_MAJOR_VERSION >= 3 @@ -7275,6 +7360,8 @@ initpybullet(void) PyModule_AddIntConstant(m, "GEOM_PLANE", GEOM_PLANE); PyModule_AddIntConstant(m, "GEOM_CAPSULE", GEOM_CAPSULE); + PyModule_AddIntConstant(m, "GEOM_FORCE_CONCAVE_TRIMESH", GEOM_FORCE_CONCAVE_TRIMESH); + SpamError = PyErr_NewException("pybullet.error", NULL, NULL); diff --git a/setup.py b/setup.py index d146cecc6..09a1d71f8 100644 --- a/setup.py +++ b/setup.py @@ -386,6 +386,7 @@ if _platform == "linux" or _platform == "linux2": sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\ +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\ +["examples/ThirdPartyLibs/Glew/glew.c"] + include_dirs += ["examples/ThirdPartyLibs/optionalX11"] elif _platform == "win32": print("win32!") libraries = ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32'] @@ -419,7 +420,7 @@ else: setup( name = 'pybullet', - version='1.1.8', + version='1.2.2', description='Official Python Interface for the Bullet Physics SDK Robotics Simulator', long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.', url='https://github.com/bulletphysics/bullet3', diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h index 27e1ccc05..8c28bbf4c 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h @@ -184,6 +184,9 @@ public: virtual void debugDraw(class btIDebugDraw* drawer)=0; virtual void setGearRatio(btScalar ratio) {} + virtual void setGearAuxLink(int gearAuxLink) {} + + }; #endif //BT_MULTIBODY_CONSTRAINT_H diff --git a/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp index 2e242b1f7..3fdd51815 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp @@ -22,7 +22,8 @@ subject to the following restrictions: btMultiBodyGearConstraint::btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB) :btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,1,false), - m_gearRatio(1) + m_gearRatio(1), + m_gearAuxLink(-1) { } @@ -121,11 +122,18 @@ void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray& int dof = 0; btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof]; btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof]; - + btScalar auxVel = 0; + + if (m_gearAuxLink>=0) + { + auxVel = m_bodyA->getJointVelMultiDof(m_gearAuxLink)[dof]; + } + currentVelocity += auxVel; + //btScalar positionStabiliationTerm = erp*(m_desiredPosition-currentPosition)/infoGlobal.m_timeStep; //btScalar velocityError = (m_desiredVelocity - currentVelocity); - btScalar desiredRelativeVelocity = 0; + btScalar desiredRelativeVelocity = auxVel; fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,false,1,false,desiredRelativeVelocity); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h index 947166ae7..711a73e46 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h @@ -31,10 +31,11 @@ protected: btMatrix3x3 m_frameInA; btMatrix3x3 m_frameInB; btScalar m_gearRatio; + int m_gearAuxLink; public: - btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB); + //btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB); btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB); virtual ~btMultiBodyGearConstraint(); @@ -97,6 +98,10 @@ public: { m_gearRatio = gearRatio; } + virtual void setGearAuxLink(int gearAuxLink) + { + m_gearAuxLink = gearAuxLink; + } }; diff --git a/src/LinearMath/btHashMap.h b/src/LinearMath/btHashMap.h index 3e8b75b7d..a0a062750 100644 --- a/src/LinearMath/btHashMap.h +++ b/src/LinearMath/btHashMap.h @@ -389,28 +389,38 @@ protected: const Value* getAtIndex(int index) const { btAssert(index < m_valueArray.size()); - - return &m_valueArray[index]; + btAssert(index>=0); + if (index>=0 && index < m_valueArray.size()) + { + return &m_valueArray[index]; + } + return 0; } Value* getAtIndex(int index) { btAssert(index < m_valueArray.size()); - - return &m_valueArray[index]; + btAssert(index>=0); + if (index>=0 && index < m_valueArray.size()) + { + return &m_valueArray[index]; + } + return 0; } Key getKeyAtIndex(int index) { btAssert(index < m_keyArray.size()); - return m_keyArray[index]; + btAssert(index>=0); + return m_keyArray[index]; } const Key getKeyAtIndex(int index) const { btAssert(index < m_keyArray.size()); - return m_keyArray[index]; - } + btAssert(index>=0); + return m_keyArray[index]; + } Value* operator[](const Key& key) {