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--- /dev/null +++ b/data/toys/concave_box.urdf @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp index 6d70cc946..99c953c09 100644 --- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp +++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp @@ -410,6 +410,14 @@ void OpenGLExampleBrowserVisualizerFlagCallback(int flag, bool enable) if (flag == COV_ENABLE_WIREFRAME) { visualWireframe = enable; + if (visualWireframe) + { + gDebugDrawFlags |= btIDebugDraw::DBG_DrawWireframe; + } + else + { + gDebugDrawFlags &= ~btIDebugDraw::DBG_DrawWireframe; + } } } diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index ce2129435..3f6043d06 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -21,6 +21,7 @@ subject to the following restrictions: #include "../ImportSTLDemo/LoadMeshFromSTL.h" #include "../ImportColladaDemo/LoadMeshFromCollada.h" #include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape +#include "BulletCollision/CollisionShapes/btSdfCollisionShape.h" #include "../../CommonInterfaces/CommonGUIHelperInterface.h" #include "Bullet3Common/b3FileUtils.h" #include @@ -509,6 +510,10 @@ bool findExistingMeshFile( { *out_type = UrdfGeometry::FILE_OBJ; } + else if (ext == ".cdf") + { + *out_type = UrdfGeometry::FILE_CDF; + } else { b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str()); @@ -662,7 +667,53 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl shape ->setMargin(gUrdfDefaultCollisionMargin); break; } + case URDF_GEOM_CDF: + { + + char relativeFileName[1024]; + char pathPrefix[1024]; + pathPrefix[0] = 0; + if (b3ResourcePath::findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024)) + { + b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024); + + btAlignedObjectArray sdfData; + { + std::streampos fsize = 0; + std::ifstream file(relativeFileName, std::ios::binary); + if (file.good()) + { + fsize = file.tellg(); + file.seekg(0, std::ios::end); + fsize = file.tellg() - fsize; + file.seekg(0, std::ios::beg); + sdfData.resize(fsize); + int bytesRead = file.rdbuf()->sgetn(&sdfData[0], fsize); + btAssert(bytesRead == fsize); + file.close(); + } + } + + if (sdfData.size()) + { + btSdfCollisionShape* sdfShape = new btSdfCollisionShape(); + bool valid = sdfShape->initializeSDF(&sdfData[0], sdfData.size()); + btAssert(valid); + + if (valid) + { + shape = sdfShape; + } + else + { + delete sdfShape; + } + + } + } + break; + } case URDF_GEOM_MESH: { GLInstanceGraphicsShape* glmesh = 0; diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index c6a30edf7..1be8285c1 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -436,9 +436,16 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, XMLElement* g, ErrorLogger* l geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast(shape->Attribute("length")); } } - else if (type_name == "mesh") + else if ((type_name == "mesh") || (type_name == "cdf")) { - geom.m_type = URDF_GEOM_MESH; + if ((type_name == "cdf")) + { + geom.m_type = URDF_GEOM_CDF; + } + else + { + geom.m_type = URDF_GEOM_MESH; + } geom.m_meshScale.setValue(1,1,1); std::string fn; diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h index 094c1e36a..fed2cc141 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.h +++ b/examples/Importers/ImportURDFDemo/UrdfParser.h @@ -54,7 +54,8 @@ enum UrdfGeomTypes URDF_GEOM_CYLINDER, URDF_GEOM_MESH, URDF_GEOM_PLANE, - URDF_GEOM_CAPSULE, //non-standard URDF? + URDF_GEOM_CAPSULE, //non-standard URDF + URDF_GEOM_CDF,//signed-distance-field, non-standard URDF URDF_GEOM_UNKNOWN, }; @@ -79,6 +80,8 @@ struct UrdfGeometry FILE_STL =1, FILE_COLLADA =2, FILE_OBJ =3, + FILE_CDF = 4, + }; int m_meshFileType; std::string m_meshFileName; diff --git a/examples/pybullet/examples/signedDistanceField.py b/examples/pybullet/examples/signedDistanceField.py new file mode 100644 index 000000000..6e4153ef8 --- /dev/null +++ b/examples/pybullet/examples/signedDistanceField.py @@ -0,0 +1,15 @@ +import pybullet as p +import pybullet +import time +p.connect(p.GUI) +p.loadURDF("toys/concave_box.urdf") +p.setGravity(0,0,-10) +for i in range (10): + p.loadURDF("sphere_1cm.urdf",[i*0.02,0,0.5]) +p.loadURDF("duck_vhacd.urdf") +timeStep = 1./240. +p.setTimeStep(timeStep) +while (1): + p.stepSimulation() + time.sleep(timeStep) + \ No newline at end of file diff --git a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp index d2331f5df..d8cbe9614 100644 --- a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp @@ -153,7 +153,7 @@ partId, int triangleIndex) { m_resultOut->setBody1Wrap(tmpWrap); } - + colAlgo->~btCollisionAlgorithm(); @@ -164,7 +164,7 @@ partId, int triangleIndex) -void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut) +void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut) { m_convexBodyWrap = convexBodyWrap; m_triBodyWrap = triBodyWrap; @@ -178,14 +178,14 @@ void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTr convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform(); const btCollisionShape* convexShape = static_cast(m_convexBodyWrap->getCollisionShape()); //CollisionShape* triangleShape = static_cast(triBody->m_collisionShape); - convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax); - btScalar extraMargin = collisionMarginTriangle+ resultOut->m_closestPointDistanceThreshold; - - btVector3 extra(extraMargin,extraMargin,extraMargin); + convexShape->getAabb(convexInTriangleSpace, m_aabbMin, m_aabbMax); + btScalar extraMargin = collisionMarginTriangle + resultOut->m_closestPointDistanceThreshold; + + btVector3 extra(extraMargin, extraMargin, extraMargin); m_aabbMax += extra; m_aabbMin -= extra; - + } void btConvexConcaveCollisionAlgorithm::clearCache() @@ -194,16 +194,16 @@ void btConvexConcaveCollisionAlgorithm::clearCache() } -void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) { BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision"); - + const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap; const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap; if (triBodyWrap->getCollisionShape()->isConcave()) { - if (triBodyWrap->getCollisionShape()->getShapeType()==SDF_SHAPE_PROXYTYPE) + if (triBodyWrap->getCollisionShape()->getShapeType() == SDF_SHAPE_PROXYTYPE) { btSdfCollisionShape* sdfShape = (btSdfCollisionShape*)triBodyWrap->getCollisionShape(); if (convexBodyWrap->getCollisionShape()->isConvex()) @@ -214,26 +214,30 @@ void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjec if (convex->isPolyhedral()) { - btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*) convex; - for (int v=0;vgetNumVertices();v++) + btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex; + for (int v = 0; v < poly->getNumVertices(); v++) { btVector3 vtx; - poly->getVertex(v,vtx); + poly->getVertex(v, vtx); queryVertices.push_back(vtx); } } - if (convex->getShapeType()==SPHERE_SHAPE_PROXYTYPE) + btScalar maxDist = SIMD_EPSILON; + + if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE) { - queryVertices.push_back(btVector3(0,0,0)); - + queryVertices.push_back(btVector3(0, 0, 0)); + btSphereShape* sphere = (btSphereShape*)convex; + maxDist = sphere->getRadius() + SIMD_EPSILON; + } if (queryVertices.size()) { resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr); //m_btConvexTriangleCallback.m_manifoldPtr->clearManifold(); - btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*) convex; - for (int v=0;vgetWorldTransform()*vtx; @@ -241,12 +245,20 @@ void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjec btVector3 normalLocal; btScalar dist; - if (sdfShape->queryPoint(vtxInSdf,dist, normalLocal)) + if (sdfShape->queryPoint(vtxInSdf, dist, normalLocal)) { - if (dist<=SIMD_EPSILON) + if (dist <= maxDist) { normalLocal.safeNormalize(); btVector3 normal = triBodyWrap->getWorldTransform().getBasis()*normalLocal; + + if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE) + { + btSphereShape* sphere = (btSphereShape*)convex; + dist -= sphere->getRadius(); + vtxWorldSpace -= sphere->getRadius()*normal; + + } resultOut->addContactPoint(normal,vtxWorldSpace-normal*dist, dist); } } diff --git a/src/BulletCollision/CollisionShapes/btMiniSDF.cpp b/src/BulletCollision/CollisionShapes/btMiniSDF.cpp index c57673381..afe45e1d2 100644 --- a/src/BulletCollision/CollisionShapes/btMiniSDF.cpp +++ b/src/BulletCollision/CollisionShapes/btMiniSDF.cpp @@ -1,5 +1,13 @@ #include "btMiniSDF.h" +// +//Based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid +//example: +//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj +//The MIT License (MIT) +// +//Copyright (c) 2017 Dan Koschier +// #include #include //memcpy @@ -89,7 +97,10 @@ bool btMiniSDF::load(const char* data, int size) std::size_t n_nodes0; ds.read(nodes0); n_nodes0 = nodes0; - + if (n_nodes0 > 1024 * 1024 * 1024) + { + return m_isValid; + } m_nodes.resize(n_nodes0); for (unsigned int i=0;i