mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
Merge pull request #1405 from erwincoumans/master
vr kitchen upgrade with marble countertop, premake4 add option --enable_static_vr_plugin etc
This commit is contained in:
erwincoumans
GitHub
commit
c208505800
@ -45,6 +45,13 @@
|
||||
description = "Try to link and use system X11 headers instead of dynamically loading X11 (dlopen is default)"
|
||||
}
|
||||
|
||||
newoption
|
||||
{
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||||
trigger = "enable_static_vr_plugin",
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||||
description = "Statically link vr plugin (in examples/SharedMemory/plugins/vrSyncPlugin)"
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||||
}
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||||
|
||||
|
||||
newoption
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||||
{
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||||
trigger = "noopengl3",
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||||
@ -276,6 +283,11 @@ end
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||||
if not _OPTIONS["glfw_lib_name"] then
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_OPTIONS["glfw_lib_name"] = default_glfw_lib_name
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end
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|
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if (_OPTIONS["enable_static_vr_plugin"]) then
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defines("STATIC_LINK_VR_PLUGIN")
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end
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||||
|
||||
newoption
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{
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trigger = "glfw_include_dir",
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@ -17,7 +17,8 @@ del tmp1234.txt
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cd build3
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premake4 --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
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||||
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||||
premake4 --double --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
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#premake4 --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
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||||
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@ -4135,123 +4135,7 @@
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||||
</visual>
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||||
</link>
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||||
</model>
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||||
<model name='part106.obj'>
|
||||
<static>1</static>
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||||
<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
|
||||
<link name='link_d106'>
|
||||
<inertial>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.166667</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.166667</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.166667</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision concave='yes' name='collision_106'>
|
||||
<geometry>
|
||||
<mesh>
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||||
<scale>.1 .1 .1</scale>
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||||
<uri>fatihrmutfak/part106.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>.1 .1 .1</scale>
|
||||
<uri>fatihrmutfak/part106.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.600000 0.894100 0.600000 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
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||||
</model>
|
||||
<model name='part107.obj'>
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||||
<static>1</static>
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||||
<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
|
||||
<link name='link_d107'>
|
||||
<inertial>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.166667</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.166667</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.166667</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision concave='yes' name='collision_107'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>.1 .1 .1</scale>
|
||||
<uri>fatihrmutfak/part107.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>.1 .1 .1</scale>
|
||||
<uri>fatihrmutfak/part107.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.690200 0.102000 0.102000 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
<model name='part108.obj'>
|
||||
<static>1</static>
|
||||
<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
|
||||
<link name='link_d108'>
|
||||
<inertial>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.166667</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.166667</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.166667</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision concave='yes' name='collision_108'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>.1 .1 .1</scale>
|
||||
<uri>fatihrmutfak/part108.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>.1 .1 .1</scale>
|
||||
<uri>fatihrmutfak/part108.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.600000 0.894100 0.600000 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<model name='part109.obj'>
|
||||
<static>1</static>
|
||||
<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
|
||||
|
||||
BIN
data/kitchens/fatihrmutfak/Concrete.jpg
Normal file
BIN
data/kitchens/fatihrmutfak/Concrete.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 159 KiB |
BIN
data/kitchens/fatihrmutfak/Seamless_Aegean_Marble_Texture.jpg
Normal file
BIN
data/kitchens/fatihrmutfak/Seamless_Aegean_Marble_Texture.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 70 KiB |
BIN
data/kitchens/fatihrmutfak/Seamless_white_marble _texture.jpg
Normal file
BIN
data/kitchens/fatihrmutfak/Seamless_white_marble _texture.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 131 KiB |
BIN
data/kitchens/fatihrmutfak/WoodFine0010_M.jpg
Normal file
BIN
data/kitchens/fatihrmutfak/WoodFine0010_M.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 335 KiB |
@ -9,7 +9,8 @@ newmtl wire_028089177
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.1098 0.3490 0.6941
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd Concrete.jpg
|
||||
|
||||
newmtl wire_214229166
|
||||
Ns 32
|
||||
@ -19,7 +20,8 @@ newmtl wire_214229166
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.8392 0.8980 0.6510
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd Concrete.jpg
|
||||
|
||||
newmtl Rubi
|
||||
Ns 10.0000
|
||||
@ -54,6 +56,7 @@ newmtl wire_115115115
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.4510 0.4510 0.4510
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd Concrete.jpg
|
||||
|
||||
newmtl wire_087224198
|
||||
Ns 32
|
||||
@ -63,7 +66,8 @@ newmtl wire_087224198
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.3412 0.8784 0.7765
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd Concrete.jpg
|
||||
|
||||
newmtl wire_086086086
|
||||
Ns 32
|
||||
@ -73,7 +77,8 @@ newmtl wire_086086086
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.3373 0.3373 0.3373
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd Concrete.jpg
|
||||
|
||||
newmtl wire_026177088
|
||||
Ns 32
|
||||
@ -83,7 +88,8 @@ newmtl wire_026177088
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.1020 0.6941 0.3451
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd Concrete.jpg
|
||||
|
||||
newmtl wire_000000000
|
||||
Ns 32
|
||||
@ -93,7 +99,8 @@ newmtl wire_000000000
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.0000 0.0000 0.0000
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd Concrete.jpg
|
||||
|
||||
newmtl wire_153228153
|
||||
Ns 32
|
||||
@ -103,7 +110,8 @@ newmtl wire_153228153
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.6000 0.8941 0.6000
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd Concrete.jpg
|
||||
|
||||
newmtl wire_176026026
|
||||
Ns 32
|
||||
@ -113,7 +121,8 @@ newmtl wire_176026026
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.6902 0.1020 0.1020
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd Concrete.jpg
|
||||
|
||||
newmtl wire_255255255
|
||||
Ns 32
|
||||
@ -123,7 +132,19 @@ newmtl wire_255255255
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 1.0000 1.0000 1.0000
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd WoodFine0010_M.jpg
|
||||
|
||||
newmtl marble_255255255
|
||||
Ns 32
|
||||
d 1
|
||||
Tr 1
|
||||
Tf 1 1 1
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 1.0000 1.0000 1.0000
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd Seamless_Aegean_Marble_Texture.jpg
|
||||
|
||||
newmtl wire_165000082
|
||||
Ns 32
|
||||
@ -133,7 +154,7 @@ newmtl wire_165000082
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 1 1 1
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd 48x48copsy.png
|
||||
|
||||
newmtl wire_255223127
|
||||
@ -144,7 +165,8 @@ newmtl wire_255223127
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 1.0000 0.8745 0.4980
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd Concrete.jpg
|
||||
|
||||
newmtl wire_165103082
|
||||
Ns 32
|
||||
@ -154,7 +176,8 @@ newmtl wire_165103082
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.6471 0.4039 0.3216
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
Ks 0.3500 0.3500 0.3500
|
||||
map_Kd Concrete.jpg
|
||||
|
||||
newmtl 02___Default
|
||||
Ns 32.0000
|
||||
|
||||
BIN
data/kitchens/fatihrmutfak/marble.jpg
Normal file
BIN
data/kitchens/fatihrmutfak/marble.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 162 KiB |
BIN
data/kitchens/fatihrmutfak/metal.jpg
Normal file
BIN
data/kitchens/fatihrmutfak/metal.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 289 KiB |
@ -479,7 +479,7 @@ v 119.729897 158.723099 9.000000
|
||||
v 150.229904 158.723099 9.000000
|
||||
v 119.729897 158.723099 8.700000
|
||||
v 150.229904 158.723099 8.700000
|
||||
usemtl wire_255255255
|
||||
usemtl marble_255255255
|
||||
|
||||
vn -1.000000 0.000000 0.000000
|
||||
vn -1.000000 0.000000 0.000000
|
||||
|
||||
11
data/marble_cube.mtl
Normal file
11
data/marble_cube.mtl
Normal file
@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'marble_cube.blend'
|
||||
# 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
|
||||
map_Kd tiles.jpg
|
||||
50
data/marble_cube.obj
Normal file
50
data/marble_cube.obj
Normal file
@ -0,0 +1,50 @@
|
||||
# Blender v2.68 (sub 0) OBJ File: 'marble_cube.blend'
|
||||
# www.blender.org
|
||||
mtllib marble_cube.mtl
|
||||
o Cube
|
||||
v -1.000000 -1.000000 1.000000
|
||||
v -1.000000 -1.000000 -1.000000
|
||||
v 1.000000 -1.000000 -1.000000
|
||||
v 1.000000 -1.000000 1.000000
|
||||
v -1.000000 1.000000 1.000000
|
||||
v -1.000000 1.000000 -1.000000
|
||||
v 1.000000 1.000000 -1.000000
|
||||
v 1.000000 1.000000 1.000000
|
||||
vt 0.900965 0.983117
|
||||
vt 0.607937 0.967373
|
||||
vt 0.920037 0.686085
|
||||
vt 0.327732 0.352741
|
||||
vt 0.031938 0.342703
|
||||
vt 0.332102 0.029274
|
||||
vt 0.618409 0.671643
|
||||
vt 0.324243 0.658970
|
||||
vt 0.630389 0.363047
|
||||
vt 0.919788 0.686473
|
||||
vt 0.618344 0.672098
|
||||
vt 0.939406 0.372060
|
||||
vt 0.039476 0.936128
|
||||
vt 0.319860 0.951754
|
||||
vt 0.036647 0.646397
|
||||
vt 0.642259 0.035851
|
||||
vt 0.630105 0.363646
|
||||
vt 0.332098 0.029351
|
||||
vt 0.617757 0.671237
|
||||
vt 0.027235 0.021626
|
||||
vt 0.327768 0.352473
|
||||
vt 0.630480 0.363422
|
||||
vt 0.325108 0.659325
|
||||
vt 0.327845 0.352523
|
||||
usemtl None
|
||||
s off
|
||||
f 5/1 6/2 1/3
|
||||
f 6/4 7/5 2/6
|
||||
f 7/7 8/8 3/9
|
||||
f 8/10 5/11 4/12
|
||||
f 1/13 2/14 4/15
|
||||
f 8/16 7/17 5/18
|
||||
f 6/2 2/19 1/3
|
||||
f 7/5 3/20 2/6
|
||||
f 8/8 4/21 3/9
|
||||
f 5/11 1/22 4/12
|
||||
f 2/14 3/23 4/15
|
||||
f 7/17 6/24 5/18
|
||||
32
data/marble_cube.urdf
Normal file
32
data/marble_cube.urdf
Normal file
@ -0,0 +1,32 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<contact_cfm value="0.0"/>
|
||||
<contact_erp value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="marble_cube.obj" scale=".5 .5 .5"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
27
data/quadruped/license.txt
Normal file
27
data/quadruped/license.txt
Normal file
@ -0,0 +1,27 @@
|
||||
LICENSE:
|
||||
Copyright (c) 2017, Erwin Coumans
|
||||
Google Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are
|
||||
met:
|
||||
|
||||
1. Redistributions or derived work must retain this 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.
|
||||
|
||||
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.
|
||||
27
data/table/license.txt
Normal file
27
data/table/license.txt
Normal file
@ -0,0 +1,27 @@
|
||||
LICENSE:
|
||||
Copyright (c) 2017, Erwin Coumans
|
||||
Google Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are
|
||||
met:
|
||||
|
||||
1. Redistributions or derived work must retain this 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.
|
||||
|
||||
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.
|
||||
11
data/table/table2.mtl
Normal file
11
data/table/table2.mtl
Normal file
@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'table1.blend'
|
||||
# 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
|
||||
map_Kd tabletop.jpg
|
||||
2050
data/table/table2.obj
Normal file
2050
data/table/table2.obj
Normal file
File diff suppressed because it is too large
Load Diff
32
data/table/table2.urdf
Normal file
32
data/table/table2.urdf
Normal file
@ -0,0 +1,32 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<contact_cfm value="0.0"/>
|
||||
<contact_erp value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="table2.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.5"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
BIN
data/table/tabletop.jpg
Normal file
BIN
data/table/tabletop.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 2.3 MiB |
BIN
data/tiles.jpg
Normal file
BIN
data/tiles.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 2.3 MiB |
@ -99,7 +99,7 @@ struct GUIHelperInterface
|
||||
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size){}
|
||||
virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag){}
|
||||
|
||||
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags){return -1;}
|
||||
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags, int replaceItemUid){return -1;}
|
||||
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime , int trackingVisualShapeIndex){return -1;};
|
||||
virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue){return -1;};
|
||||
virtual int readUserDebugParameter(int itemUniqueId, double* value) { return 0;}
|
||||
|
||||
@ -175,6 +175,11 @@ if (hasCL and findOpenGL3()) then
|
||||
"../OpenCL/rigidbody/GpuRigidBodyDemo.cpp",
|
||||
}
|
||||
end
|
||||
|
||||
if (_OPTIONS["enable_static_vr_plugin"]) then
|
||||
files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
|
||||
end
|
||||
|
||||
if os.is("Linux") then
|
||||
initX11()
|
||||
end
|
||||
|
||||
@ -8,14 +8,37 @@
|
||||
#include "Bullet3Common/b3FileUtils.h"
|
||||
#include "stb_image/stb_image.h"
|
||||
#include "../ImportObjDemo/LoadMeshFromObj.h"
|
||||
#include "Bullet3Common/b3HashMap.h"
|
||||
|
||||
|
||||
struct CachedTextureResult
|
||||
{
|
||||
std::string m_textureName;
|
||||
|
||||
int m_width;
|
||||
int m_height;
|
||||
unsigned char* m_pixels;
|
||||
CachedTextureResult()
|
||||
:m_width(0),
|
||||
m_height(0),
|
||||
m_pixels(0)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
static b3HashMap<b3HashString, CachedTextureResult> gCachedTextureResults;
|
||||
|
||||
bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
|
||||
{
|
||||
B3_PROFILE("loadAndRegisterMeshFromFileInternal");
|
||||
meshData.m_gfxShape = 0;
|
||||
meshData.m_textureImage = 0;
|
||||
meshData.m_textureImage1 = 0;
|
||||
meshData.m_textureHeight = 0;
|
||||
meshData.m_textureWidth = 0;
|
||||
|
||||
meshData.m_isCached = false;
|
||||
|
||||
char relativeFileName[1024];
|
||||
if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
|
||||
@ -37,7 +60,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
|
||||
B3_PROFILE("Load Texture");
|
||||
//int textureIndex = -1;
|
||||
//try to load some texture
|
||||
for (int i = 0; meshData.m_textureImage == 0 && i < shapes.size(); i++)
|
||||
for (int i = 0; meshData.m_textureImage1 == 0 && i < shapes.size(); i++)
|
||||
{
|
||||
const tinyobj::shape_t& shape = shapes[i];
|
||||
if (shape.material.diffuse_texname.length() > 0)
|
||||
@ -57,21 +80,51 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
|
||||
char relativeFileName2[1024];
|
||||
if (b3ResourcePath::findResourcePath(relativeFileName, relativeFileName2, 1024))
|
||||
{
|
||||
image = stbi_load(relativeFileName, &width, &height, &n, 3);
|
||||
meshData.m_textureImage = image;
|
||||
if (image)
|
||||
if (b3IsFileCachingEnabled())
|
||||
{
|
||||
meshData.m_textureWidth = width;
|
||||
meshData.m_textureHeight = height;
|
||||
}
|
||||
else
|
||||
{
|
||||
b3Warning("Unsupported texture image format [%s]\n", relativeFileName);
|
||||
meshData.m_textureWidth = 0;
|
||||
meshData.m_textureHeight = 0;
|
||||
break;
|
||||
CachedTextureResult* texture = gCachedTextureResults[relativeFileName];
|
||||
if (texture)
|
||||
{
|
||||
image = texture->m_pixels;
|
||||
width = texture->m_width;
|
||||
height = texture->m_height;
|
||||
meshData.m_textureWidth = width;
|
||||
meshData.m_textureHeight = height;
|
||||
meshData.m_textureImage1 = image;
|
||||
meshData.m_isCached = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (image==0)
|
||||
{
|
||||
image = stbi_load(relativeFileName, &width, &height, &n, 3);
|
||||
|
||||
meshData.m_textureImage1 = image;
|
||||
|
||||
if (image)
|
||||
{
|
||||
meshData.m_textureWidth = width;
|
||||
meshData.m_textureHeight = height;
|
||||
|
||||
if (b3IsFileCachingEnabled())
|
||||
{
|
||||
CachedTextureResult result;
|
||||
result.m_textureName = relativeFileName;
|
||||
result.m_width = width;
|
||||
result.m_height = height;
|
||||
result.m_pixels = image;
|
||||
meshData.m_isCached = true;
|
||||
gCachedTextureResults.insert(relativeFileName,result);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
b3Warning("Unsupported texture image format [%s]\n", relativeFileName);
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
@ -7,7 +7,8 @@ struct b3ImportMeshData
|
||||
{
|
||||
struct GLInstanceGraphicsShape* m_gfxShape;
|
||||
|
||||
unsigned char* m_textureImage;//in 3 component 8-bit RGB data
|
||||
unsigned char* m_textureImage1;//in 3 component 8-bit RGB data
|
||||
bool m_isCached;
|
||||
int m_textureWidth;
|
||||
int m_textureHeight;
|
||||
};
|
||||
|
||||
@ -65,9 +65,9 @@ int loadAndRegisterMeshFromFile2(const std::string& fileName, CommonRenderInterf
|
||||
{
|
||||
int textureIndex = -1;
|
||||
|
||||
if (meshData.m_textureImage)
|
||||
if (meshData.m_textureImage1)
|
||||
{
|
||||
textureIndex = renderer->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
|
||||
textureIndex = renderer->registerTexture(meshData.m_textureImage1,meshData.m_textureWidth,meshData.m_textureHeight);
|
||||
}
|
||||
|
||||
shapeId = renderer->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
|
||||
@ -77,7 +77,10 @@ int loadAndRegisterMeshFromFile2(const std::string& fileName, CommonRenderInterf
|
||||
B3_GL_TRIANGLES,
|
||||
textureIndex);
|
||||
delete meshData.m_gfxShape;
|
||||
delete meshData.m_textureImage;
|
||||
if (!meshData.m_isCached)
|
||||
{
|
||||
delete meshData.m_textureImage1;
|
||||
}
|
||||
}
|
||||
return shapeId;
|
||||
}
|
||||
|
||||
@ -878,12 +878,13 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
|
||||
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
|
||||
{
|
||||
|
||||
if (meshData.m_textureImage)
|
||||
if (meshData.m_textureImage1)
|
||||
{
|
||||
BulletURDFTexture texData;
|
||||
texData.m_width = meshData.m_textureWidth;
|
||||
texData.m_height = meshData.m_textureHeight;
|
||||
texData.textureData = meshData.m_textureImage;
|
||||
texData.textureData1 = meshData.m_textureImage1;
|
||||
texData.m_isCached = meshData.m_isCached;
|
||||
texturesOut.push_back(texData);
|
||||
}
|
||||
glmesh = meshData.m_gfxShape;
|
||||
@ -1137,7 +1138,7 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
|
||||
if (textures.size())
|
||||
{
|
||||
|
||||
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
|
||||
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1,textures[0].m_width,textures[0].m_height);
|
||||
}
|
||||
{
|
||||
B3_PROFILE("registerGraphicsShape");
|
||||
@ -1151,7 +1152,10 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
|
||||
for (int i=0;i<textures.size();i++)
|
||||
{
|
||||
B3_PROFILE("free textureData");
|
||||
free( textures[i].textureData);
|
||||
if (!textures[i].m_isCached)
|
||||
{
|
||||
free( textures[i].textureData1);
|
||||
}
|
||||
}
|
||||
return graphicsIndex;
|
||||
}
|
||||
|
||||
@ -9,7 +9,8 @@ struct BulletURDFTexture
|
||||
{
|
||||
int m_width;
|
||||
int m_height;
|
||||
unsigned char* textureData;
|
||||
unsigned char* textureData1;
|
||||
bool m_isCached;
|
||||
};
|
||||
|
||||
|
||||
|
||||
@ -210,6 +210,7 @@ void SimpleOpenGL2App::setBackgroundColor(float red, float green, float blue)
|
||||
|
||||
void SimpleOpenGL2App::drawGrid(DrawGridData data)
|
||||
{
|
||||
glEnable(GL_COLOR_MATERIAL);
|
||||
int gridSize = data.gridSize;
|
||||
float upOffset = data.upOffset;
|
||||
int upAxis = data.upAxis;
|
||||
|
||||
@ -169,9 +169,9 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
|
||||
{
|
||||
int textureIndex = -1;
|
||||
|
||||
if (meshData.m_textureImage)
|
||||
if (meshData.m_textureImage1)
|
||||
{
|
||||
textureIndex = m_guiHelper->getRenderInterface()->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
|
||||
textureIndex = m_guiHelper->getRenderInterface()->registerTexture(meshData.m_textureImage1,meshData.m_textureWidth,meshData.m_textureHeight);
|
||||
}
|
||||
|
||||
shapeId = m_guiHelper->getRenderInterface()->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
|
||||
@ -205,7 +205,7 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
|
||||
ob->registerMeshShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
|
||||
meshData.m_gfxShape->m_numvertices,
|
||||
indices,
|
||||
meshData.m_gfxShape->m_numIndices,color, meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
|
||||
meshData.m_gfxShape->m_numIndices,color, meshData.m_textureImage1,meshData.m_textureWidth,meshData.m_textureHeight);
|
||||
|
||||
ob->m_localScaling.setValue(scaling[0],scaling[1],scaling[2]);
|
||||
|
||||
@ -214,7 +214,10 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
|
||||
|
||||
|
||||
delete meshData.m_gfxShape;
|
||||
delete meshData.m_textureImage;
|
||||
if (!meshData.m_isCached)
|
||||
{
|
||||
delete meshData.m_textureImage1;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -168,7 +168,10 @@ bool TinyVRGui::init()
|
||||
|
||||
|
||||
delete meshData.m_gfxShape;
|
||||
delete meshData.m_textureImage;
|
||||
if (!meshData.m_isCached)
|
||||
{
|
||||
free(meshData.m_textureImage1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -197,6 +197,11 @@ if not _OPTIONS["no-enet"] then
|
||||
"MinitaurSetup.h",
|
||||
myfiles
|
||||
}
|
||||
|
||||
if (_OPTIONS["enable_static_vr_plugin"]) then
|
||||
files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
|
||||
end
|
||||
|
||||
if os.is("Linux") then
|
||||
initX11()
|
||||
end
|
||||
@ -280,6 +285,11 @@ project ("App_VRGloveHandSimulator")
|
||||
"b3RobotSimulatorClientAPI.h",
|
||||
myfiles
|
||||
}
|
||||
|
||||
if (_OPTIONS["enable_static_vr_plugin"]) then
|
||||
files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
|
||||
end
|
||||
|
||||
if os.is("Linux") then
|
||||
initX11()
|
||||
end
|
||||
|
||||
@ -2632,6 +2632,18 @@ B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle com
|
||||
|
||||
}
|
||||
|
||||
B3_SHARED_API void b3UserDebugItemSetReplaceItemUniqueId(b3SharedMemoryCommandHandle commandHandle, int replaceItemUniqueId)
|
||||
{
|
||||
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
|
||||
b3Assert(command);
|
||||
b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
|
||||
b3Assert(command->m_updateFlags & USER_DEBUG_HAS_TEXT);
|
||||
command->m_userDebugDrawArgs.m_replaceItemUniqueId = replaceItemUniqueId;
|
||||
command->m_updateFlags |= USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
B3_SHARED_API void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex)
|
||||
{
|
||||
|
||||
@ -175,6 +175,8 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3Physics
|
||||
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[/*3*/], double colorRGB[/*3*/], double textSize, double lifeTime);
|
||||
B3_SHARED_API void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags);
|
||||
B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[/*4*/]);
|
||||
B3_SHARED_API void b3UserDebugItemSetReplaceItemUniqueId(b3SharedMemoryCommandHandle commandHandle, int replaceItem);
|
||||
|
||||
|
||||
B3_SHARED_API void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
|
||||
|
||||
|
||||
@ -78,7 +78,7 @@ struct PhysicsClientSharedMemoryInternalData {
|
||||
m_hasLastServerStatus(false),
|
||||
m_sharedMemoryKey(SHARED_MEMORY_KEY),
|
||||
m_verboseOutput(false),
|
||||
m_timeOutInSeconds(30)
|
||||
m_timeOutInSeconds(1e30)
|
||||
{}
|
||||
|
||||
void processServerStatus();
|
||||
|
||||
@ -1,5 +1,4 @@
|
||||
#include "PhysicsServerCommandProcessor.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonRenderInterface.h"
|
||||
|
||||
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
|
||||
@ -4483,7 +4482,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
|
||||
if (textures.size())
|
||||
{
|
||||
|
||||
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
|
||||
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1,textures[0].m_width,textures[0].m_height);
|
||||
}
|
||||
int graphicsIndex = -1;
|
||||
{
|
||||
@ -8223,27 +8222,35 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
|
||||
if (clientCmd.m_userDebugDrawArgs.m_parentObjectUniqueId>=0)
|
||||
{
|
||||
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userDebugDrawArgs.m_parentObjectUniqueId);
|
||||
if (bodyHandle && bodyHandle->m_multiBody)
|
||||
if (bodyHandle)
|
||||
{
|
||||
int linkIndex = clientCmd.m_userDebugDrawArgs.m_parentLinkIndex;
|
||||
if (linkIndex ==-1)
|
||||
int linkIndex = -1;
|
||||
|
||||
if (bodyHandle->m_multiBody)
|
||||
{
|
||||
if (bodyHandle->m_multiBody->getBaseCollider())
|
||||
int linkIndex = clientCmd.m_userDebugDrawArgs.m_parentLinkIndex;
|
||||
if (linkIndex ==-1)
|
||||
{
|
||||
trackingVisualShapeIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
|
||||
}
|
||||
} else
|
||||
{
|
||||
if (linkIndex >=0 && linkIndex < bodyHandle->m_multiBody->getNumLinks())
|
||||
{
|
||||
if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
|
||||
if (bodyHandle->m_multiBody->getBaseCollider())
|
||||
{
|
||||
trackingVisualShapeIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
|
||||
trackingVisualShapeIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
|
||||
}
|
||||
} else
|
||||
{
|
||||
if (linkIndex >=0 && linkIndex < bodyHandle->m_multiBody->getNumLinks())
|
||||
{
|
||||
if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
|
||||
{
|
||||
trackingVisualShapeIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (bodyHandle->m_rigidBody)
|
||||
{
|
||||
trackingVisualShapeIndex = bodyHandle->m_rigidBody->getUserIndex();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -8329,7 +8336,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
|
||||
}
|
||||
|
||||
|
||||
|
||||
int replaceItemUniqueId = -1;
|
||||
if ((clientCmd.m_updateFlags & USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID)!=0)
|
||||
{
|
||||
replaceItemUniqueId = clientCmd.m_userDebugDrawArgs.m_replaceItemUniqueId;
|
||||
}
|
||||
|
||||
|
||||
int uid = m_data->m_guiHelper->addUserDebugText3D(clientCmd.m_userDebugDrawArgs.m_text,
|
||||
@ -8339,7 +8350,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
|
||||
clientCmd.m_userDebugDrawArgs.m_textSize,
|
||||
clientCmd.m_userDebugDrawArgs.m_lifeTime,
|
||||
trackingVisualShapeIndex,
|
||||
optionFlags);
|
||||
optionFlags,
|
||||
replaceItemUniqueId);
|
||||
|
||||
if (uid>=0)
|
||||
{
|
||||
|
||||
@ -13,13 +13,14 @@
|
||||
#include "../Utils/b3Clock.h"
|
||||
#include "../MultiThreading/b3ThreadSupportInterface.h"
|
||||
#include "SharedMemoryPublic.h"
|
||||
//#define BT_ENABLE_VR
|
||||
#ifdef BT_ENABLE_VR
|
||||
#include "../RenderingExamples/TinyVRGui.h"
|
||||
#endif//BT_ENABLE_VR
|
||||
|
||||
|
||||
#include "../CommonInterfaces/CommonParameterInterface.h"
|
||||
|
||||
#include "../Importers/ImportURDFDemo/urdfStringSplit.h"
|
||||
|
||||
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
|
||||
bool gEnablePicking=true;
|
||||
@ -36,9 +37,7 @@ static bool gEnableDefaultKeyboardShortcuts = true;
|
||||
static bool gEnableDefaultMousePicking = true;
|
||||
|
||||
|
||||
//extern btVector3 gLastPickPos;
|
||||
btVector3 gVRTeleportPosLocal(0,0,0);
|
||||
btQuaternion gVRTeleportOrnLocal(0,0,0,1);
|
||||
|
||||
|
||||
|
||||
btScalar gVRTeleportRotZ = 0;
|
||||
@ -1132,10 +1131,17 @@ public:
|
||||
|
||||
UserDebugText m_tmpText;
|
||||
int m_resultUserDebugTextUid;
|
||||
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags)
|
||||
|
||||
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags, int replaceItemUid)
|
||||
{
|
||||
|
||||
m_tmpText.m_itemUniqueId = m_uidGenerator++;
|
||||
if (replaceItemUid>=0)
|
||||
{
|
||||
m_tmpText.m_itemUniqueId = replaceItemUid;
|
||||
} else
|
||||
{
|
||||
m_tmpText.m_itemUniqueId = m_uidGenerator++;
|
||||
}
|
||||
m_tmpText.m_lifeTime = lifeTime;
|
||||
m_tmpText.textSize = size;
|
||||
//int len = strlen(txt);
|
||||
@ -2171,10 +2177,26 @@ void PhysicsServerExample::updateGraphics()
|
||||
case eGUIUserDebugAddText:
|
||||
{
|
||||
B3_PROFILE("eGUIUserDebugAddText");
|
||||
|
||||
bool replaced = false;
|
||||
|
||||
m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText);
|
||||
m_multiThreadedHelper->m_resultUserDebugTextUid = m_multiThreadedHelper->m_userDebugText[m_multiThreadedHelper->m_userDebugText.size()-1].m_itemUniqueId;
|
||||
for (int i=0;i<m_multiThreadedHelper->m_userDebugText.size();i++)
|
||||
{
|
||||
if (m_multiThreadedHelper->m_userDebugText[i].m_itemUniqueId == m_multiThreadedHelper->m_tmpText.m_itemUniqueId)
|
||||
{
|
||||
m_multiThreadedHelper->m_userDebugText[i] = m_multiThreadedHelper->m_tmpText;
|
||||
m_multiThreadedHelper->m_resultUserDebugTextUid = m_multiThreadedHelper->m_tmpText.m_itemUniqueId;
|
||||
replaced = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (!replaced)
|
||||
{
|
||||
m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText);
|
||||
m_multiThreadedHelper->m_resultUserDebugTextUid = m_multiThreadedHelper->m_userDebugText[m_multiThreadedHelper->m_userDebugText.size()-1].m_itemUniqueId;
|
||||
}
|
||||
m_multiThreadedHelper->mainThreadRelease();
|
||||
|
||||
break;
|
||||
}
|
||||
case eGUIUserDebugAddParameter:
|
||||
@ -2503,10 +2525,35 @@ void PhysicsServerExample::drawUserDebugLines()
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
btAlignedObjectArray<std::string> pieces;
|
||||
btAlignedObjectArray<std::string> separators;
|
||||
separators.push_back("\n");
|
||||
urdfStringSplit(pieces,m_multiThreadedHelper->m_userDebugText[i].m_text,separators);
|
||||
|
||||
double sz = m_multiThreadedHelper->m_userDebugText[i].textSize;
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(pos[0],pos[1],pos[2]));
|
||||
tr.setRotation(btQuaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
|
||||
|
||||
m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text,
|
||||
pos,orientation,colorRGBA,
|
||||
m_multiThreadedHelper->m_userDebugText[i].textSize,optionFlag);
|
||||
//float newpos[3]={pos[0]-float(t)*sz,pos[1],pos[2]};
|
||||
|
||||
for (int t=0;t<pieces.size();t++)
|
||||
{
|
||||
btTransform offset;
|
||||
offset.setIdentity();
|
||||
offset.setOrigin(btVector3(0,-float(t)*sz,0));
|
||||
btTransform result = tr*offset;
|
||||
float newpos[3] = {result.getOrigin()[0],result.getOrigin()[1],result.getOrigin()[2]};
|
||||
|
||||
m_guiHelper->getAppInterface()->drawText3D(pieces[t].c_str(),
|
||||
newpos,orientation,colorRGBA,
|
||||
sz,optionFlag);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text,
|
||||
|
||||
@ -691,7 +691,7 @@ enum EnumUserDebugDrawFlags
|
||||
USER_DEBUG_HAS_OPTION_FLAGS=256,
|
||||
USER_DEBUG_HAS_TEXT_ORIENTATION = 512,
|
||||
USER_DEBUG_HAS_PARENT_OBJECT=1024,
|
||||
|
||||
USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID=2048,
|
||||
};
|
||||
|
||||
struct UserDebugDrawArgs
|
||||
@ -712,7 +712,7 @@ struct UserDebugDrawArgs
|
||||
double m_textColorRGB[3];
|
||||
double m_textSize;
|
||||
int m_optionFlags;
|
||||
|
||||
int m_replaceItemUniqueId;
|
||||
|
||||
double m_rangeMin;
|
||||
double m_rangeMax;
|
||||
|
||||
@ -38,9 +38,10 @@ subject to the following restrictions:
|
||||
|
||||
struct MyTexture2
|
||||
{
|
||||
unsigned char* textureData;
|
||||
unsigned char* textureData1;
|
||||
int m_width;
|
||||
int m_height;
|
||||
bool m_isCached;
|
||||
};
|
||||
|
||||
struct TinyRendererObjectArray
|
||||
@ -308,12 +309,13 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
|
||||
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
|
||||
{
|
||||
|
||||
if (meshData.m_textureImage)
|
||||
if (meshData.m_textureImage1)
|
||||
{
|
||||
MyTexture2 texData;
|
||||
texData.m_width = meshData.m_textureWidth;
|
||||
texData.m_height = meshData.m_textureHeight;
|
||||
texData.textureData = meshData.m_textureImage;
|
||||
texData.textureData1 = meshData.m_textureImage1;
|
||||
texData.m_isCached = meshData.m_isCached;
|
||||
texturesOut.push_back(texData);
|
||||
}
|
||||
glmesh = meshData.m_gfxShape;
|
||||
@ -628,27 +630,32 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
|
||||
if (vertices.size() && indices.size())
|
||||
{
|
||||
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId);
|
||||
unsigned char* textureImage=0;
|
||||
unsigned char* textureImage1=0;
|
||||
int textureWidth=0;
|
||||
int textureHeight=0;
|
||||
bool isCached = false;
|
||||
if (textures.size())
|
||||
{
|
||||
textureImage = textures[0].textureData;
|
||||
textureImage1 = textures[0].textureData1;
|
||||
textureWidth = textures[0].m_width;
|
||||
textureHeight = textures[0].m_height;
|
||||
isCached = textures[0].m_isCached;
|
||||
}
|
||||
|
||||
{
|
||||
B3_PROFILE("registerMeshShape");
|
||||
|
||||
tinyObj->registerMeshShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), rgbaColor,
|
||||
textureImage, textureWidth, textureHeight);
|
||||
textureImage1, textureWidth, textureHeight);
|
||||
}
|
||||
visuals->m_renderObjects.push_back(tinyObj);
|
||||
}
|
||||
for (int i=0;i<textures.size();i++)
|
||||
{
|
||||
free(textures[i].textureData);
|
||||
if (!textures[i].m_isCached)
|
||||
{
|
||||
free(textures[i].textureData1);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1090,7 +1097,10 @@ void TinyRendererVisualShapeConverter::resetAll()
|
||||
|
||||
for (int i=0;i<m_data->m_textures.size();i++)
|
||||
{
|
||||
free(m_data->m_textures[i].textureData);
|
||||
if (!m_data->m_textures[i].m_isCached)
|
||||
{
|
||||
free(m_data->m_textures[i].textureData1);
|
||||
}
|
||||
}
|
||||
m_data->m_textures.clear();
|
||||
m_data->m_swRenderInstances.clear();
|
||||
@ -1117,7 +1127,7 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId,
|
||||
TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v];
|
||||
if ((shapeIndex < 0) || (shapeIndex == v))
|
||||
{
|
||||
renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
|
||||
renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData1, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1131,7 +1141,7 @@ int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int
|
||||
MyTexture2 texData;
|
||||
texData.m_width = width;
|
||||
texData.m_height = height;
|
||||
texData.textureData = texels;
|
||||
texData.textureData1 = texels;
|
||||
m_data->m_textures.push_back(texData);
|
||||
return m_data->m_textures.size()-1;
|
||||
}
|
||||
|
||||
@ -104,11 +104,16 @@ myfiles =
|
||||
|
||||
}
|
||||
|
||||
|
||||
files {
|
||||
myfiles,
|
||||
"main.cpp",
|
||||
}
|
||||
|
||||
if (_OPTIONS["enable_static_vr_plugin"]) then
|
||||
files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
|
||||
end
|
||||
|
||||
|
||||
files {
|
||||
"../MultiThreading/b3ThreadSupportInterface.cpp",
|
||||
@ -202,6 +207,10 @@ files {
|
||||
"../ExampleBrowser/GL_ShapeDrawer.cpp",
|
||||
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
|
||||
}
|
||||
if (_OPTIONS["enable_static_vr_plugin"]) then
|
||||
files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
|
||||
end
|
||||
|
||||
|
||||
if os.is("Linux") then initX11() end
|
||||
|
||||
@ -353,6 +362,10 @@ if os.is("Windows") then
|
||||
"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
|
||||
}
|
||||
if (_OPTIONS["enable_static_vr_plugin"]) then
|
||||
files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
|
||||
end
|
||||
|
||||
if os.is("Windows") then
|
||||
configuration {"x32"}
|
||||
libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
|
||||
|
||||
@ -1,14 +1,27 @@
|
||||
|
||||
|
||||
|
||||
//#define USE_OPENGL2
|
||||
#ifdef USE_OPENGL2
|
||||
#include "OpenGLWindow/SimpleOpenGL2App.h"
|
||||
typedef SimpleOpenGL2App SimpleOpenGLApp ;
|
||||
|
||||
#else
|
||||
#include "OpenGLWindow/SimpleOpenGL3App.h"
|
||||
typedef SimpleOpenGL3App SimpleOpenGLApp ;
|
||||
|
||||
#endif //USE_OPENGL2
|
||||
|
||||
|
||||
|
||||
|
||||
#include "Bullet3Common/b3Quaternion.h"
|
||||
#include "Bullet3Common/b3CommandLineArgs.h"
|
||||
#include "assert.h"
|
||||
#include <stdio.h>
|
||||
|
||||
char* gVideoFileName = 0;
|
||||
char* gPngFileName = 0;
|
||||
static char* gVideoFileName = 0;
|
||||
static char* gPngFileName = 0;
|
||||
|
||||
static b3WheelCallback sOldWheelCB = 0;
|
||||
static b3ResizeCallback sOldResizeCB = 0;
|
||||
@ -17,15 +30,15 @@ static b3MouseButtonCallback sOldMouseButtonCB = 0;
|
||||
static b3KeyboardCallback sOldKeyboardCB = 0;
|
||||
//static b3RenderCallback sOldRenderCB = 0;
|
||||
|
||||
float gWidth = 1024;
|
||||
float gHeight = 768;
|
||||
static float gWidth = 1024;
|
||||
static float gHeight = 768;
|
||||
|
||||
void MyWheelCallback(float deltax, float deltay)
|
||||
void MyWheelCallback2(float deltax, float deltay)
|
||||
{
|
||||
if (sOldWheelCB)
|
||||
sOldWheelCB(deltax,deltay);
|
||||
}
|
||||
void MyResizeCallback( float width, float height)
|
||||
void MyResizeCallback2( float width, float height)
|
||||
{
|
||||
gWidth = width;
|
||||
gHeight = height;
|
||||
@ -33,21 +46,21 @@ void MyResizeCallback( float width, float height)
|
||||
if (sOldResizeCB)
|
||||
sOldResizeCB(width,height);
|
||||
}
|
||||
void MyMouseMoveCallback( float x, float y)
|
||||
void MyMouseMoveCallback2( float x, float y)
|
||||
{
|
||||
printf("Mouse Move: %f, %f\n", x,y);
|
||||
|
||||
if (sOldMouseMoveCB)
|
||||
sOldMouseMoveCB(x,y);
|
||||
}
|
||||
void MyMouseButtonCallback(int button, int state, float x, float y)
|
||||
void MyMouseButtonCallback2(int button, int state, float x, float y)
|
||||
{
|
||||
if (sOldMouseButtonCB)
|
||||
sOldMouseButtonCB(button,state,x,y);
|
||||
}
|
||||
|
||||
|
||||
void MyKeyboardCallback(int keycode, int state)
|
||||
static void MyKeyboardCallback2(int keycode, int state)
|
||||
{
|
||||
//keycodes are in examples/CommonInterfaces/CommonWindowInterface.h
|
||||
//for example B3G_ESCAPE for escape key
|
||||
@ -65,21 +78,21 @@ int main(int argc, char* argv[])
|
||||
b3CommandLineArgs myArgs(argc, argv);
|
||||
|
||||
|
||||
SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App", gWidth, gHeight, true);
|
||||
SimpleOpenGLApp* app = new SimpleOpenGLApp("SimpleOpenGL3App", gWidth, gHeight);
|
||||
|
||||
app->m_instancingRenderer->getActiveCamera()->setCameraDistance(13);
|
||||
app->m_instancingRenderer->getActiveCamera()->setCameraPitch(0);
|
||||
app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(0, 0, 0);
|
||||
app->m_renderer->getActiveCamera()->setCameraDistance(13);
|
||||
app->m_renderer->getActiveCamera()->setCameraPitch(0);
|
||||
app->m_renderer->getActiveCamera()->setCameraTargetPosition(0, 0, 0);
|
||||
sOldKeyboardCB = app->m_window->getKeyboardCallback();
|
||||
app->m_window->setKeyboardCallback(MyKeyboardCallback);
|
||||
app->m_window->setKeyboardCallback(MyKeyboardCallback2);
|
||||
sOldMouseMoveCB = app->m_window->getMouseMoveCallback();
|
||||
app->m_window->setMouseMoveCallback(MyMouseMoveCallback);
|
||||
app->m_window->setMouseMoveCallback(MyMouseMoveCallback2);
|
||||
sOldMouseButtonCB = app->m_window->getMouseButtonCallback();
|
||||
app->m_window->setMouseButtonCallback(MyMouseButtonCallback);
|
||||
app->m_window->setMouseButtonCallback(MyMouseButtonCallback2);
|
||||
sOldWheelCB = app->m_window->getWheelCallback();
|
||||
app->m_window->setWheelCallback(MyWheelCallback);
|
||||
app->m_window->setWheelCallback(MyWheelCallback2);
|
||||
sOldResizeCB = app->m_window->getResizeCallback();
|
||||
app->m_window->setResizeCallback(MyResizeCallback);
|
||||
app->m_window->setResizeCallback(MyResizeCallback2);
|
||||
|
||||
|
||||
myArgs.GetCmdLineArgument("mp4_file", gVideoFileName);
|
||||
@ -134,10 +147,12 @@ int main(int argc, char* argv[])
|
||||
app->m_primRenderer->drawTexturedRect(100, 200, gWidth / 2 - 50, gHeight / 2 - 50, color, 0, 0, 1, 1, true);
|
||||
|
||||
|
||||
app->m_instancingRenderer->init();
|
||||
app->m_instancingRenderer->updateCamera();
|
||||
app->m_renderer->init();
|
||||
int upAxis = 1;
|
||||
app->m_renderer->updateCamera(upAxis);
|
||||
|
||||
app->m_renderer->renderScene();
|
||||
|
||||
app->drawGrid();
|
||||
char bla[1024];
|
||||
sprintf(bla, "2d text:%d", frameCount);
|
||||
|
||||
@ -73,6 +73,7 @@ void ImGui_ImplBullet_CreateDeviceObjects()
|
||||
|
||||
void ImGui_ImplBullet_RenderDrawLists(ImDrawData* draw_data)
|
||||
{
|
||||
glEnable(GL_COLOR_MATERIAL);
|
||||
// Avoid rendering when minimized, scale coordinates for retina displays (screen coordinates != framebuffer coordinates)
|
||||
ImGuiIO& io = ImGui::GetIO();
|
||||
int fb_width = (int)(io.DisplaySize.x * io.DisplayFramebufferScale.x);
|
||||
@ -96,7 +97,7 @@ void ImGui_ImplBullet_RenderDrawLists(ImDrawData* draw_data)
|
||||
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
|
||||
glEnableClientState(GL_COLOR_ARRAY);
|
||||
glEnable(GL_TEXTURE_2D);
|
||||
//glUseProgram(0); // You may want this if using this code in an OpenGL 3+ context
|
||||
glUseProgram(0); // You may want this if using this code in an OpenGL 3+ context
|
||||
|
||||
// Setup viewport, orthographic projection matrix
|
||||
glViewport(0, 0, (GLsizei)fb_width, (GLsizei)fb_height);
|
||||
|
||||
230
examples/pybullet/examples/vr_kitchen_setup_vrSyncPython.py
Normal file
230
examples/pybullet/examples/vr_kitchen_setup_vrSyncPython.py
Normal file
@ -0,0 +1,230 @@
|
||||
import pybullet as p
|
||||
import time
|
||||
#p.connect(p.UDP,"192.168.86.100")
|
||||
|
||||
|
||||
cid = p.connect(p.SHARED_MEMORY)
|
||||
if (cid<0):
|
||||
p.connect(p.GUI)
|
||||
p.resetSimulation()
|
||||
|
||||
|
||||
|
||||
|
||||
meshScale = [.1,.1,.01]
|
||||
shift = [0,0,0]
|
||||
|
||||
visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="marble_cube.obj", rgbaColor=[1,1,1,1], specularColor=[1,1,1], visualFramePosition=shift, meshScale=meshScale)
|
||||
#collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="textures/marble_cube.obj", collisionFramePosition=shift,meshScale=meshScale)
|
||||
collisionShapeId = -1
|
||||
uiCube = p.createMultiBody(baseMass=0,baseInertialFramePosition=[0,0,0],baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition = [0,1,0], useMaximalCoordinates=True)
|
||||
|
||||
textOrn = p.getQuaternionFromEuler([0,0,-1.5707963])
|
||||
numLines = 1
|
||||
lines = [-1]*numLines
|
||||
|
||||
p.stepSimulation()
|
||||
#disable rendering during loading makes it much faster
|
||||
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
|
||||
#objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
|
||||
kitchenObj = p.loadSDF("kitchens/1.sdf")
|
||||
#objects = [p.loadURDF("samurai.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
|
||||
objects = [p.loadURDF("pr2_gripper.urdf", 0.500000,0.300006,0.700000,-0.000000,-0.000000,-0.000031,1.000000)]
|
||||
pr2_gripper = objects[0]
|
||||
print ("pr2_gripper=")
|
||||
print (pr2_gripper)
|
||||
|
||||
jointPositions=[ 0.550569, 0.000000, 0.549657, 0.000000 ]
|
||||
for jointIndex in range (p.getNumJoints(pr2_gripper)):
|
||||
p.resetJointState(pr2_gripper,jointIndex,jointPositions[jointIndex])
|
||||
p.setJointMotorControl2(pr2_gripper,jointIndex,p.POSITION_CONTROL,targetPosition=0,force=0)
|
||||
|
||||
pr2_cid = p.createConstraint(pr2_gripper,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0.2,0,0],[0.500000,0.300006,0.700000])
|
||||
print ("pr2_cid")
|
||||
print (pr2_cid)
|
||||
|
||||
pr2_cid2 = p.createConstraint(pr2_gripper,0,pr2_gripper,2,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||
p.changeConstraint(pr2_cid2,gearRatio=1, erp=0.5, relativePositionTarget=0.5, maxForce=3)
|
||||
|
||||
|
||||
|
||||
objects = [p.loadURDF("kuka_iiwa/model_vr_limits.urdf", 1.400000,-0.200000,0.600000,0.000000,0.000000,0.000000,1.000000)]
|
||||
kuka = objects[0]
|
||||
jointPositions=[ -0.000000, -0.000000, 0.000000, 1.570793, 0.000000, -1.036725, 0.000001 ]
|
||||
for jointIndex in range (p.getNumJoints(kuka)):
|
||||
p.resetJointState(kuka,jointIndex,jointPositions[jointIndex])
|
||||
p.setJointMotorControl2(kuka,jointIndex,p.POSITION_CONTROL,jointPositions[jointIndex],0)
|
||||
|
||||
objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.700000,0.000000,0.000000,0.000000,1.000000)]
|
||||
objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.800000,0.000000,0.000000,0.000000,1.000000)]
|
||||
objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.900000,0.000000,0.000000,0.000000,1.000000)]
|
||||
objects = p.loadSDF("gripper/wsg50_one_motor_gripper_new_free_base.sdf")
|
||||
kuka_gripper = objects[0]
|
||||
print ("kuka gripper=")
|
||||
print(kuka_gripper)
|
||||
|
||||
p.resetBasePositionAndOrientation(kuka_gripper,[0.923103,-0.200000,1.250036],[-0.000000,0.964531,-0.000002,-0.263970])
|
||||
jointPositions=[ 0.000000, -0.011130, -0.206421, 0.205143, -0.009999, 0.000000, -0.010055, 0.000000 ]
|
||||
for jointIndex in range (p.getNumJoints(kuka_gripper)):
|
||||
p.resetJointState(kuka_gripper,jointIndex,jointPositions[jointIndex])
|
||||
p.setJointMotorControl2(kuka_gripper,jointIndex,p.POSITION_CONTROL,jointPositions[jointIndex],0)
|
||||
|
||||
|
||||
kuka_cid = p.createConstraint(kuka, 6, kuka_gripper,0,p.JOINT_FIXED, [0,0,0], [0,0,0.05],[0,0,0])
|
||||
|
||||
objects = [p.loadURDF("table/table.urdf", 1.000000,-0.200000,0.000000,0.000000,0.000000,0.707107,0.707107)]
|
||||
#objects = [p.loadURDF("textures/table2.urdf", 1.000000,-0.200000,0.000000,0.000000,0.000000,0.707107,0.707107)]
|
||||
|
||||
|
||||
|
||||
objects = [p.loadURDF("jenga/jenga.urdf", 1.300000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
|
||||
objects = [p.loadURDF("jenga/jenga.urdf", 1.200000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
|
||||
objects = [p.loadURDF("jenga/jenga.urdf", 1.100000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
|
||||
objects = [p.loadURDF("jenga/jenga.urdf", 1.000000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
|
||||
objects = [p.loadURDF("jenga/jenga.urdf", 0.900000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
|
||||
objects = [p.loadURDF("jenga/jenga.urdf", 0.800000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
|
||||
|
||||
#objects = [p.loadURDF("teddy_vhacd.urdf", 1.050000,-0.500000,0.700000,0.000000,0.000000,0.707107,0.707107)]
|
||||
objects = [p.loadURDF("cube_small.urdf", 0.950000,-0.100000,0.700000,0.000000,0.000000,0.707107,0.707107)]
|
||||
objects = [p.loadURDF("sphere_small.urdf", 0.850000,-0.400000,0.700000,0.000000,0.000000,0.707107,0.707107)]
|
||||
objects = [p.loadURDF("duck_vhacd.urdf", 0.850000,-0.400000,0.900000,0.000000,0.000000,0.707107,0.707107)]
|
||||
#bjects = p.loadSDF("kiva_shelf/model.sdf")
|
||||
#ob = objects[0]
|
||||
#p.resetBasePositionAndOrientation(ob,[0.000000,1.000000,1.204500],[0.000000,0.000000,0.000000,1.000000])
|
||||
#objects = [p.loadURDF("teddy_vhacd.urdf", -0.100000,0.600000,0.850000,0.000000,0.000000,0.000000,1.000000)]
|
||||
#objects = [p.loadURDF("sphere_small.urdf", -0.100000,0.955006,1.169706,0.633232,-0.000000,-0.000000,0.773962)]
|
||||
#objects = [p.loadURDF("cube_small.urdf", 0.300000,0.600000,0.850000,0.000000,0.000000,0.000000,1.000000)]
|
||||
#objects = [p.loadURDF("table_square/table_square.urdf", -1.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
|
||||
#ob = objects[0]
|
||||
#jointPositions=[ 0.000000 ]
|
||||
#for jointIndex in range (p.getNumJoints(ob)):
|
||||
# p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
|
||||
|
||||
#objects = [p.loadURDF("husky/husky.urdf", 2.000000,-5.000000,1.000000,0.000000,0.000000,0.000000,1.000000)]
|
||||
#ob = objects[0]
|
||||
#jointPositions=[ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ]
|
||||
#for jointIndex in range (p.getNumJoints(ob)):
|
||||
# p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
|
||||
|
||||
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
|
||||
|
||||
|
||||
p.setGravity(0,0,-10)
|
||||
|
||||
##show this for 10 seconds
|
||||
#now = time.time()
|
||||
#while (time.time() < now+10):
|
||||
# p.stepSimulation()
|
||||
p.setRealTimeSimulation(1)
|
||||
|
||||
CONTROLLER_ID = 0
|
||||
POSITION=1
|
||||
ORIENTATION=2
|
||||
ANALOG=3
|
||||
BUTTONS=6
|
||||
|
||||
uiControllerId = -1
|
||||
|
||||
print("waiting for VR UI controller trigger")
|
||||
while (uiControllerId<0):
|
||||
events = p.getVREvents()
|
||||
for e in (events):
|
||||
if (e[BUTTONS][33]==p.VR_BUTTON_IS_DOWN):
|
||||
uiControllerId = e[CONTROLLER_ID]
|
||||
if (e[BUTTONS][32]==p.VR_BUTTON_IS_DOWN):
|
||||
uiControllerId = e[CONTROLLER_ID]
|
||||
|
||||
print("Using uiControllerId="+str(uiControllerId))
|
||||
|
||||
|
||||
|
||||
controllerId = -1
|
||||
|
||||
print("waiting for VR picking controller trigger")
|
||||
while (controllerId<0):
|
||||
events = p.getVREvents()
|
||||
for e in (events):
|
||||
if (e[BUTTONS][33]==p.VR_BUTTON_IS_DOWN):
|
||||
controllerId = e[CONTROLLER_ID]
|
||||
if (e[BUTTONS][32]==p.VR_BUTTON_IS_DOWN):
|
||||
controllerId = e[CONTROLLER_ID]
|
||||
if (controllerId == uiControllerId):
|
||||
controllerId = -1
|
||||
|
||||
print("Using controllerId="+str(controllerId))
|
||||
|
||||
once = 1
|
||||
|
||||
if (once):
|
||||
logId = -1#p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "userDebugItems1.json")
|
||||
print("logId userdebug")
|
||||
print(logId)
|
||||
|
||||
for i in range (numLines):
|
||||
spacing = 0.01
|
||||
textPos = [.1-(i+1)*spacing,.1,0.011]
|
||||
text = "ABCDEFGH\nIJKLMNOPQRSTUVWXYZ\n01234567890abcdefg\n"*10
|
||||
lines[i] = p.addUserDebugText(text,textColorRGB=[0,0,0], textSize = 0.01, textPosition = textPos,textOrientation = textOrn,parentObjectUniqueId=uiCube, parentLinkIndex = -1)
|
||||
|
||||
if (once):
|
||||
once = 0
|
||||
if (logId and logId>0):
|
||||
p.stopStateLogging(logId)
|
||||
|
||||
frameNr = 0
|
||||
objectInfo = ""
|
||||
pointRay = -1
|
||||
rayLen = 100
|
||||
while (1):
|
||||
|
||||
frameNr=frameNr+1
|
||||
|
||||
|
||||
for i in range (numLines):
|
||||
spacing = 0.01
|
||||
textPos = [.1-(i+1)*spacing,.1,0.011]
|
||||
text = "Frame:"+str(frameNr)+"\nObject UID:"+objectInfo
|
||||
textUid = p.addUserDebugText(text,textColorRGB=[0,0,0], textSize = 0.02, textPosition = textPos,textOrientation = textOrn,parentObjectUniqueId=uiCube, parentLinkIndex = -1, replaceItemUniqueId = lines[i])
|
||||
lines[i] = textUid
|
||||
|
||||
|
||||
#keep the gripper centered/symmetric
|
||||
b = p.getJointState(pr2_gripper,2)[0]
|
||||
p.setJointMotorControl2(pr2_gripper, 0, p.POSITION_CONTROL, targetPosition=b, force=3)
|
||||
|
||||
events = p.getVREvents()
|
||||
for e in (events):
|
||||
if e[CONTROLLER_ID] == uiControllerId:
|
||||
p.resetBasePositionAndOrientation(uiCube,e[POSITION], e[ORIENTATION])
|
||||
pos = e[POSITION]
|
||||
orn = e[ORIENTATION]
|
||||
lineFrom = pos
|
||||
mat = p.getMatrixFromQuaternion(orn)
|
||||
dir = [mat[0],mat[3],mat[6]]
|
||||
to = [pos[0]+dir[0]*rayLen,pos[1]+dir[1]*rayLen,pos[2]+dir[2]*rayLen]
|
||||
hit = p.rayTest(lineFrom,to)
|
||||
oldRay = pointRay
|
||||
color = [1,1,0]
|
||||
width = 3
|
||||
#pointRay = p.addUserDebugLine(lineFrom,to,color,width,lifeTime=1)
|
||||
#if (oldRay>=0):
|
||||
# p.removeUserDebugItem(oldRay)
|
||||
|
||||
if (hit):
|
||||
#if (hit[0][0]>=0):
|
||||
hitObjectUid = hit[0][0]
|
||||
linkIndex = hit[0][1]
|
||||
if (hitObjectUid>=0):
|
||||
objectInfo = str(hitObjectUid)+" Link Index="+str(linkIndex)+"\nBase Name:"+p.getBodyInfo(hitObjectUid)[0].decode()+"\nBody Info:"+p.getBodyInfo(hitObjectUid)[1].decode()
|
||||
else:
|
||||
objectInfo="None"
|
||||
|
||||
if e[CONTROLLER_ID] == controllerId: # To make sure we only get the value for one of the remotes
|
||||
#sync the vr pr2 gripper with the vr controller position
|
||||
p.changeConstraint(pr2_cid, e[POSITION], e[ORIENTATION], maxForce=500)
|
||||
relPosTarget = 1 - e[ANALOG]
|
||||
#open/close the gripper, based on analogue
|
||||
p.changeConstraint(pr2_cid2,gearRatio=1, erp=1, relativePositionTarget=relPosTarget, maxForce=3)
|
||||
|
||||
|
||||
|
||||
@ -117,8 +117,8 @@ while (controllerId<0):
|
||||
print("Using controllerId="+str(controllerId))
|
||||
|
||||
|
||||
plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll","_vrSyncPlugin")
|
||||
#plugin = p.loadPlugin("vrSyncPlugin")
|
||||
#plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll","_vrSyncPlugin")
|
||||
plugin = p.loadPlugin("vrSyncPlugin")
|
||||
print("PluginId="+str(plugin))
|
||||
|
||||
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid, pr2_cid2,pr2_gripper],[50,3])
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
from pybullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv
|
||||
from pybullet_envs.bullet.minitaur_gym_env import MinitaurBulletEnv
|
||||
from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv
|
||||
from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
|
||||
|
||||
101
examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py
Normal file
101
examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py
Normal file
@ -0,0 +1,101 @@
|
||||
"""
|
||||
Classic cart-pole system implemented by Rich Sutton et al.
|
||||
Copied from https://webdocs.cs.ualberta.ca/~sutton/book/code/pole.c
|
||||
"""
|
||||
import os, inspect
|
||||
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
|
||||
parentdir = os.path.dirname(os.path.dirname(currentdir))
|
||||
os.sys.path.insert(0,parentdir)
|
||||
|
||||
import logging
|
||||
import math
|
||||
import gym
|
||||
from gym import spaces
|
||||
from gym.utils import seeding
|
||||
import numpy as np
|
||||
import time
|
||||
import subprocess
|
||||
import pybullet as p
|
||||
import pybullet_data
|
||||
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
class CartPoleBulletEnv(gym.Env):
|
||||
metadata = {
|
||||
'render.modes': ['human', 'rgb_array'],
|
||||
'video.frames_per_second' : 50
|
||||
}
|
||||
|
||||
def __init__(self, renders=True):
|
||||
# start the bullet physics server
|
||||
self._renders = renders
|
||||
if (renders):
|
||||
p.connect(p.GUI)
|
||||
else:
|
||||
p.connect(p.DIRECT)
|
||||
|
||||
observation_high = np.array([
|
||||
np.finfo(np.float32).max,
|
||||
np.finfo(np.float32).max,
|
||||
np.finfo(np.float32).max,
|
||||
np.finfo(np.float32).max])
|
||||
action_high = np.array([0.1])
|
||||
|
||||
self.action_space = spaces.Discrete(9)
|
||||
self.observation_space = spaces.Box(-observation_high, observation_high)
|
||||
|
||||
self.theta_threshold_radians = 1
|
||||
self.x_threshold = 2.4
|
||||
self._seed()
|
||||
# self.reset()
|
||||
self.viewer = None
|
||||
self._configure()
|
||||
|
||||
def _configure(self, display=None):
|
||||
self.display = display
|
||||
|
||||
def _seed(self, seed=None):
|
||||
self.np_random, seed = seeding.np_random(seed)
|
||||
return [seed]
|
||||
|
||||
def _step(self, action):
|
||||
p.stepSimulation()
|
||||
# time.sleep(self.timeStep)
|
||||
self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
|
||||
theta, theta_dot, x, x_dot = self.state
|
||||
|
||||
dv = 0.1
|
||||
deltav = [-10.*dv,-5.*dv, -2.*dv, -0.1*dv, 0, 0.1*dv, 2.*dv,5.*dv, 10.*dv][action]
|
||||
|
||||
p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, targetVelocity=(deltav + self.state[3]))
|
||||
|
||||
done = x < -self.x_threshold \
|
||||
or x > self.x_threshold \
|
||||
or theta < -self.theta_threshold_radians \
|
||||
or theta > self.theta_threshold_radians
|
||||
reward = 1.0
|
||||
|
||||
return np.array(self.state), reward, done, {}
|
||||
|
||||
def _reset(self):
|
||||
# print("-----------reset simulation---------------")
|
||||
p.resetSimulation()
|
||||
self.cartpole = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"cartpole.urdf"),[0,0,0])
|
||||
self.timeStep = 0.01
|
||||
p.setJointMotorControl2(self.cartpole, 1, p.VELOCITY_CONTROL, force=0)
|
||||
p.setGravity(0,0, -10)
|
||||
p.setTimeStep(self.timeStep)
|
||||
p.setRealTimeSimulation(0)
|
||||
|
||||
initialCartPos = self.np_random.uniform(low=-0.5, high=0.5, size=(1,))
|
||||
initialAngle = self.np_random.uniform(low=-0.5, high=0.5, size=(1,))
|
||||
p.resetJointState(self.cartpole, 1, initialAngle)
|
||||
p.resetJointState(self.cartpole, 0, initialCartPos)
|
||||
|
||||
self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
|
||||
|
||||
return np.array(self.state)
|
||||
|
||||
def _render(self, mode='human', close=False):
|
||||
return
|
||||
@ -155,6 +155,11 @@ if not _OPTIONS["no-enet"] then
|
||||
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
|
||||
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
|
||||
}
|
||||
|
||||
if (_OPTIONS["enable_static_vr_plugin"]) then
|
||||
files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
|
||||
end
|
||||
|
||||
|
||||
includedirs {
|
||||
_OPTIONS["python_include_dir"],
|
||||
|
||||
@ -3499,11 +3499,12 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
|
||||
double lifeTime = 0.f;
|
||||
int physicsClientId = 0;
|
||||
int debugItemUniqueId = -1;
|
||||
int replaceItemUniqueId = -1;
|
||||
|
||||
b3PhysicsClientHandle sm = 0;
|
||||
static char* kwlist[] = {"text", "textPosition", "textColorRGB", "textSize", "lifeTime", "textOrientation", "parentObjectUniqueId", "parentLinkIndex", "physicsClientId", NULL};
|
||||
static char* kwlist[] = {"text", "textPosition", "textColorRGB", "textSize", "lifeTime", "textOrientation", "parentObjectUniqueId", "parentLinkIndex", "replaceItemUniqueId", "physicsClientId", NULL};
|
||||
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "sO|OddOiii", kwlist, &text, &textPositionObj, &textColorRGBObj, &textSize, &lifeTime, &textOrientationObj, &parentObjectUniqueId, &parentLinkIndex, &physicsClientId))
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "sO|OddOiiii", kwlist, &text, &textPositionObj, &textColorRGBObj, &textSize, &lifeTime, &textOrientationObj, &parentObjectUniqueId, &parentLinkIndex, &replaceItemUniqueId, &physicsClientId))
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
@ -3550,6 +3551,11 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
|
||||
}
|
||||
}
|
||||
|
||||
if (replaceItemUniqueId>=0)
|
||||
{
|
||||
b3UserDebugItemSetReplaceItemUniqueId(commandHandle,replaceItemUniqueId);
|
||||
}
|
||||
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
|
||||
|
||||
@ -226,6 +226,10 @@ project ("Test_PhysicsServerLoopBack")
|
||||
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
|
||||
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
|
||||
}
|
||||
|
||||
if (_OPTIONS["enable_static_plugins"]) then
|
||||
files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
|
||||
end
|
||||
|
||||
project ("Test_PhysicsServerDirect")
|
||||
|
||||
@ -306,7 +310,9 @@ project ("Test_PhysicsServerLoopBack")
|
||||
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
|
||||
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
|
||||
}
|
||||
|
||||
if (_OPTIONS["enable_static_plugins"]) then
|
||||
files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
|
||||
end
|
||||
|
||||
project ("Test_PhysicsServerInProcessExampleBrowser")
|
||||
|
||||
@ -414,6 +420,10 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
|
||||
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
|
||||
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
|
||||
}
|
||||
if (_OPTIONS["enable_static_vr_plugin"]) then
|
||||
files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
|
||||
end
|
||||
|
||||
if os.is("Linux") then
|
||||
initX11()
|
||||
end
|
||||
|
||||
Loading…
Reference in New Issue
Block a user