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Merge pull request #841 from YunfeiBai/master

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Programmatic render API for changing texture in TinyRenderer.
This commit is contained in:
erwincoumans 2016-10-22 07:16:06 -07:00 committed by GitHub
commit c83dde6344
11 changed files with 253 additions and 4 deletions
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6
build_and_run_cmake_pybullet_double.sh Executable file
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@ -0,0 +1,6 @@
#!/bin/sh
rm CMakeCache.txt
mkdir build_cmake
cd build_cmake
cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
make -j12

34
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -1252,7 +1252,41 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
}
}
b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_LOAD_TEXTURE;
int len = strlen(filename);
if (len<MAX_FILENAME_LENGTH)
{
strcpy(command->m_loadTextureArguments.m_textureFileName,filename);
} else
{
command->m_loadTextureArguments.m_textureFileName[0] = 0;
}
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_UPDATE_VISUAL_SHAPE;
command->m_updateVisualShapeDataArguments.m_bodyUniqueId = bodyUniqueId;
command->m_updateVisualShapeDataArguments.m_jointIndex = jointIndex;
command->m_updateVisualShapeDataArguments.m_shapeIndex = shapeIndex;
command->m_updateVisualShapeDataArguments.m_textureUniqueId = textureUniqueId;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient)
{

2
examples/SharedMemory/PhysicsClientC_API.h
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@ -99,6 +99,8 @@ void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3Con
b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA);
void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo);
b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);

10
examples/SharedMemory/PhysicsClientExample.cpp
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@ -997,14 +997,20 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
b3Warning("Cannot get visual shape information");
}
if (statusType == CMD_VISUAL_SHAPE_UPDATE_FAILED)
{
b3Warning("Cannot update visual shape");
}
if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
b3VisualShapeInformation shapeInfo;
b3GetVisualShapeInformation(m_physicsClientHandle, &shapeInfo);
b3Printf("Num visual shapes: %d", shapeInfo.m_numVisualShapes);
}
if (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED)
{
b3Printf("Visual shape update completed.");
}
if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
{
b3ContactInformation contactPointData;

18
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@ -657,6 +657,24 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Visual Shape Info Request failed");
break;
}
case CMD_VISUAL_SHAPE_UPDATE_COMPLETED:
{
break;
}
case CMD_VISUAL_SHAPE_UPDATE_FAILED:
{
b3Warning("Visual Shape Update failed");
break;
}
case CMD_LOAD_TEXTURE_COMPLETED:
{
break;
}
case CMD_LOAD_TEXTURE_FAILED:
{
b3Warning("Load texture failed");
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);

25
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -3001,6 +3001,31 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
}
case CMD_UPDATE_VISUAL_SHAPE:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
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);
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED;
hasStatus = true;
break;
}
case CMD_LOAD_TEXTURE:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
m_data->m_visualConverter.loadTextureFile(clientCmd.m_loadTextureArguments.m_textureFileName);
serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED;
hasStatus = true;
break;
}
default:
{
b3Error("Unknown command encountered");

15
examples/SharedMemory/SharedMemoryCommands.h
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@ -157,6 +157,19 @@ struct RequestVisualShapeDataArgs
int m_startingVisualShapeIndex;
};
struct UpdateVisualShapeDataArgs
{
int m_bodyUniqueId;
int m_jointIndex;
int m_shapeIndex;
int m_textureUniqueId;
};
struct LoadTextureArgs
{
char m_textureFileName[MAX_FILENAME_LENGTH];
};
struct SendVisualShapeDataArgs
{
int m_bodyUniqueId;
@ -477,6 +490,8 @@ struct SharedMemoryCommand
struct CreateJointArgs m_createJointArguments;
struct RequestContactDataArgs m_requestContactPointArguments;
struct RequestVisualShapeDataArgs m_requestVisualShapeDataArguments;
struct UpdateVisualShapeDataArgs m_updateVisualShapeDataArguments;
struct LoadTextureArgs m_loadTextureArguments;
struct CalculateInverseKinematicsArgs m_calculateInverseKinematicsArguments;
};
};

6
examples/SharedMemory/SharedMemoryPublic.h
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@ -35,6 +35,8 @@ enum EnumSharedMemoryClientCommand
CMD_REQUEST_CONTACT_POINT_INFORMATION,
CMD_SAVE_WORLD,
CMD_REQUEST_VISUAL_SHAPE_INFO,
CMD_UPDATE_VISUAL_SHAPE,
CMD_LOAD_TEXTURE,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@ -81,6 +83,10 @@ enum EnumSharedMemoryServerStatus
CMD_SAVE_WORLD_FAILED,
CMD_VISUAL_SHAPE_INFO_COMPLETED,
CMD_VISUAL_SHAPE_INFO_FAILED,
CMD_VISUAL_SHAPE_UPDATE_COMPLETED,
CMD_VISUAL_SHAPE_UPDATE_FAILED,
CMD_LOAD_TEXTURE_COMPLETED,
CMD_LOAD_TEXTURE_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};

52
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@ -33,6 +33,8 @@ subject to the following restrictions:
#include <fstream>
#include "../Importers/ImportURDFDemo/UrdfParser.h"
#include "../SharedMemory/SharedMemoryPublic.h"//for b3VisualShapeData
#include "../TinyRenderer/model.h"
#include "../ThirdPartyLibs/stb_image/stb_image.h"
enum MyFileType
@ -68,6 +70,7 @@ struct TinyRendererVisualShapeConverterInternalData
int m_swWidth;
int m_swHeight;
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<MyTexture2> m_textures;
b3AlignedObjectArray<float> m_depthBuffer;
b3AlignedObjectArray<int> m_segmentationMaskBuffer;
@ -827,3 +830,52 @@ void TinyRendererVisualShapeConverter::resetAll()
m_data->m_swRenderInstances.clear();
}
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);
}
}
void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
{
int start = -1;
for (int i = 0; i < m_data->m_visualShapes.size(); i++)
{
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);
}
}
}
int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height)
{
MyTexture2 texData;
texData.m_width = width;
texData.m_height = height;
texData.textureData = texels;
m_data->m_textures.push_back(texData);
return m_data->m_textures.size()-1;
}
void TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
{
int width,height,n;
unsigned char* image=0;
image = stbi_load(filename, &width, &height, &n, 3);
registerTexture(image, width, height);
}

5
examples/SharedMemory/TinyRendererVisualShapeConverter.h
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@ -37,6 +37,11 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
void render();
void render(const float viewMat[16], const float projMat[16]);
void loadTextureFile(const char* filename);
int registerTexture(unsigned char* texels, int width, int height);
void activateShapeTexture(int shapeUniqueId, int textureUniqueId);
void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
};

84
examples/pybullet/pybullet.c
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@ -1358,8 +1358,82 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args)
return Py_None;
}
static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args)
{
int size = PySequence_Size(args);
int objectUniqueId = -1;
int jointIndex = -1;
int shapeIndex = -1;
int textureUniqueId = -1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (size == 4)
{
if (!PyArg_ParseTuple(args, "iiii", &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId)) {
PyErr_SetString(SpamError, "Error parsing object unique id, or joint index, or shape index, or texture unique id");
return NULL;
}
commandHandle = b3InitUpdateVisualShape(sm, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED)
{
}
else
{
PyErr_SetString(SpamError, "Error resetting visual shape info");
return NULL;
}
}
else
{
PyErr_SetString(SpamError, "setVisualShapeData requires 4 argument");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args)
{
int size = PySequence_Size(args);
const char* filename = -1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (size == 1)
{
if (!PyArg_ParseTuple(args, "s", &filename)) {
PyErr_SetString(SpamError, "Error parsing file name");
return NULL;
}
commandHandle = b3InitLoadTexture(sm, filename);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_LOAD_TEXTURE_COMPLETED)
{
}
else
{
PyErr_SetString(SpamError, "Error loading texture");
return NULL;
}
}
else
{
PyErr_SetString(SpamError, "loadTexture requires 1 argument");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args) {
int size = PySequence_Size(args);
@ -2294,9 +2368,15 @@ static PyMethodDef SpamMethods[] = {
"object-object collisions. Optional arguments one or two object unique "
"ids, that need to be involved in the contact."},
{ "getVisualShapeData", pybullet_getVisualShapeData, METH_VARARGS,
{"getVisualShapeData", pybullet_getVisualShapeData, METH_VARARGS,
"Return the visual shape information for one object." },
{"resetVisualShapeData", pybullet_resetVisualShapeData, METH_VARARGS,
"Reset part of the visual shape information for one object." },
{"loadTexture", pybullet_loadTexture, METH_VARARGS,
"Load texture file." },
{"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS,
"Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to "
"quaternion [x,y,z,w]"},