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Merge pull request #2809 from erwincoumans/master

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add pybullet.unsupportedChangeScaling feature for some small experime…
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erwincoumans 2020-05-17 19:22:40 -07:00 committed by GitHub
commit d4c7687b29
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14 changed files with 182 additions and 3 deletions
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2
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@ -45,6 +45,7 @@ struct GUIHelperInterface
virtual void removeGraphicsInstance(int graphicsUid) {}
virtual void changeInstanceFlags(int instanceUid, int flags) {}
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
virtual void changeScaling(int instanceUid, const double scaling[3]) {}
virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {}
virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height) {}
virtual void updateShape(int shapeIndex, float* vertices) {}
@ -151,6 +152,7 @@ struct DummyGUIHelper : public GUIHelperInterface
virtual void removeAllGraphicsInstances() {}
virtual void removeGraphicsInstance(int graphicsUid) {}
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
virtual void changeScaling(int instanceUid, const double scaling[3]) {}
virtual Common2dCanvasInterface* get2dCanvasInterface()
{

8
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@ -388,6 +388,14 @@ void OpenGLGuiHelper::changeInstanceFlags(int instanceUid, int flags)
m_data->m_glApp->m_renderer->writeSingleInstanceFlagsToCPU( flags, instanceUid);
}
}
void OpenGLGuiHelper::changeScaling(int instanceUid, const double scaling[3])
{
if (instanceUid >= 0)
{
m_data->m_glApp->m_renderer->writeSingleInstanceScaleToCPU(scaling, instanceUid);
};
}
void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4])
{
if (instanceUid >= 0)

1
examples/ExampleBrowser/OpenGLGuiHelper.h
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@ -29,6 +29,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void removeGraphicsInstance(int graphicsUid);
virtual void changeInstanceFlags(int instanceUid, int flags);
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
virtual void changeScaling(int instanceUid, const double scaling[3]);
virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height);
virtual void removeTexture(int textureUid);

20
examples/SharedMemory/GraphicsServerExample.cpp
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@ -488,6 +488,18 @@ void TCPThreadFunc(void* userPtr, void* lsMemory)
printf("GFX_CMD_CHANGE_RGBA_COLOR\n");
break;
}
case GFX_CMD_CHANGE_SCALING:
{
args->submitCommand();
while (args->isCommandOutstanding())
{
clock.usleep(0);
}
if (gVerboseNetworkMessagesServer)
printf("GFX_CMD_CHANGE_SCALING\n");
break;
}
case GFX_CMD_GET_CAMERA_INFO:
{
args->submitCommand();
@ -833,6 +845,14 @@ public:
m_args.processCommand();
break;
}
case GFX_CMD_CHANGE_SCALING:
{
m_guiHelper->changeScaling(clientCmd.m_changeScalingCommand.m_graphicsUid, clientCmd.m_changeScalingCommand.m_scaling);
m_args.processCommand();
break;
}
case GFX_CMD_GET_CAMERA_INFO:
{
serverStatusOut.m_type = GFX_CMD_GET_CAMERA_INFO_FAILED;

9
examples/SharedMemory/GraphicsSharedMemoryCommands.h
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@ -112,6 +112,14 @@ struct GraphicsChangeRGBAColorCommand
double m_rgbaColor[4];
};
struct GraphicsChangeScalingCommand
{
int m_graphicsUid;
double m_scaling[3];
};
struct GraphicsGetCameraInfoStatus
{
int width;
@ -150,6 +158,7 @@ struct GraphicsSharedMemoryCommand
struct GraphicsSyncTransformsCommand m_syncTransformsCommand;
struct GraphicsRemoveInstanceCommand m_removeGraphicsInstanceCommand;
struct GraphicsChangeRGBAColorCommand m_changeRGBAColorCommand;
struct GraphicsChangeScalingCommand m_changeScalingCommand;
};
};

1
examples/SharedMemory/GraphicsSharedMemoryPublic.h
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@ -22,6 +22,7 @@ enum EnumGraphicsSharedMemoryClientCommand
GFX_CMD_REMOVE_SINGLE_GRAPHICS_INSTANCE,
GFX_CMD_CHANGE_RGBA_COLOR,
GFX_CMD_GET_CAMERA_INFO,
GFX_CMD_CHANGE_SCALING,
//don't go beyond this command!
GFX_CMD_MAX_CLIENT_COMMANDS,
};

16
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -2240,6 +2240,22 @@ B3_SHARED_API int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle
return 0;
}
B3_SHARED_API int b3CreatePoseCommandSetBaseScaling(b3SharedMemoryCommandHandle commandHandle, double scaling[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |= INIT_POSE_HAS_SCALING;
command->m_initPoseArgs.m_scaling[0] = scaling[0];
command->m_initPoseArgs.m_scaling[1] = scaling[1];
command->m_initPoseArgs.m_scaling[2] = scaling[2];
return 0;
}
B3_SHARED_API int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

2
examples/SharedMemory/PhysicsClientC_API.h
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@ -574,6 +574,8 @@ extern "C"
B3_SHARED_API int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, const double linVel[/*3*/]);
B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, const double angVel[/*3*/]);
B3_SHARED_API int b3CreatePoseCommandSetBaseScaling(b3SharedMemoryCommandHandle commandHandle, double scaling[/* 3*/]);
B3_SHARED_API int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions);
B3_SHARED_API int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);

27
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -8063,7 +8063,9 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
cb.m_bodyUniqueIdA = bodyUniqueIdA;
cb.m_bodyUniqueIdB = bodyUniqueIdB;
cb.m_deltaTime = m_data->m_physicsDeltaTime;
cb.m_deltaTime = m_data->m_numSimulationSubSteps>0 ?
m_data->m_physicsDeltaTime/ m_data->m_numSimulationSubSteps :
m_data->m_physicsDeltaTime;
for (int i = 0; i < setA.size(); i++)
{
@ -10047,6 +10049,20 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
{
btMultiBody* mb = body->m_multiBody;
if (clientCmd.m_updateFlags & INIT_POSE_HAS_SCALING)
{
btVector3 scaling(clientCmd.m_initPoseArgs.m_scaling[0], clientCmd.m_initPoseArgs.m_scaling[1], clientCmd.m_initPoseArgs.m_scaling[2]);
mb->getBaseCollider()->getCollisionShape()->setLocalScaling(scaling);
//refresh broadphase
m_data->m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(
mb->getBaseCollider()->getBroadphaseHandle(),
m_data->m_dynamicsWorld->getDispatcher());
//also visuals
int graphicsIndex = mb->getBaseCollider()->getUserIndex();
m_data->m_guiHelper->changeScaling(graphicsIndex, clientCmd.m_initPoseArgs.m_scaling);
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY)
{
mb->setBaseVel(baseLinVel);
@ -11605,6 +11621,10 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT)
{
btScalar fixedTimeSubStep = m_data->m_numSimulationSubSteps > 0 ?
m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps :
m_data->m_physicsDeltaTime;
serverCmd.m_type = CMD_CHANGE_USER_CONSTRAINT_FAILED;
int userConstraintUidChange = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId;
InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.find(userConstraintUidChange);
@ -11637,7 +11657,8 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce * m_data->m_physicsDeltaTime;
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce * fixedTimeSubStep;
userConstraintPtr->m_userConstraintData.m_maxAppliedForce = clientCmd.m_userConstraintArguments.m_maxAppliedForce;
userConstraintPtr->m_mbConstraint->setMaxAppliedImpulse(maxImp);
}
@ -11668,7 +11689,7 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
{
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce * m_data->m_physicsDeltaTime;
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce * fixedTimeSubStep;
userConstraintPtr->m_userConstraintData.m_maxAppliedForce = clientCmd.m_userConstraintArguments.m_maxAppliedForce;
//userConstraintPtr->m_rbConstraint->setMaxAppliedImpulse(maxImp);
}

24
examples/SharedMemory/PhysicsServerExample.cpp
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@ -128,6 +128,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIHelperRemoveTexture,
eGUIHelperSetVisualizerFlagCheckRenderedFrame,
eGUIHelperUpdateShape,
eGUIHelperChangeGraphicsInstanceScaling,
eGUIUserDebugRemoveAllParameters,
};
@ -1035,6 +1036,19 @@ public:
workerThreadWait();
}
int m_graphicsInstanceChangeScaling;
double m_baseScaling[3];
virtual void changeScaling(int instanceUid, const double scaling[3])
{
m_graphicsInstanceChangeScaling = instanceUid;
m_baseScaling[0] = scaling[0];
m_baseScaling[1] = scaling[1];
m_baseScaling[2] = scaling[2];
m_cs->lock();
m_cs->setSharedParam(1, eGUIHelperChangeGraphicsInstanceScaling);
workerThreadWait();
}
double m_specularColor[3];
int m_graphicsInstanceChangeSpecular;
virtual void changeSpecularColor(int instanceUid, const double specularColor[3])
@ -2181,6 +2195,16 @@ void PhysicsServerExample::updateGraphics()
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperChangeGraphicsInstanceScaling:
{
B3_PROFILE("eGUIHelperChangeGraphicsInstanceScaling");
m_multiThreadedHelper->m_childGuiHelper->changeScaling(m_multiThreadedHelper->m_graphicsInstanceChangeScaling, m_multiThreadedHelper->m_baseScaling);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperChangeGraphicsInstanceSpecularColor:
{
B3_PROFILE("eGUIHelperChangeGraphicsInstanceSpecularColor");

5
examples/SharedMemory/RemoteGUIHelper.cpp
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@ -529,6 +529,11 @@ void RemoteGUIHelper::removeGraphicsInstance(int graphicsUid)
}
}
}
void RemoteGUIHelper::changeScaling(int instanceUid, const double scaling[3])
{
}
void RemoteGUIHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4])
{
GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();

1
examples/SharedMemory/RemoteGUIHelper.h
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@ -38,6 +38,7 @@ struct RemoteGUIHelper : public GUIHelperInterface
virtual void removeAllGraphicsInstances();
virtual void removeGraphicsInstance(int graphicsUid);
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
virtual void changeScaling(int instanceUid, const double scaling[3]);
virtual Common2dCanvasInterface* get2dCanvasInterface();

2
examples/SharedMemory/SharedMemoryCommands.h
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@ -215,6 +215,7 @@ enum EnumInitPoseFlags
INIT_POSE_HAS_BASE_LINEAR_VELOCITY = 8,
INIT_POSE_HAS_BASE_ANGULAR_VELOCITY = 16,
INIT_POSE_HAS_JOINT_VELOCITY = 32,
INIT_POSE_HAS_SCALING=64,
};
///InitPoseArgs is mainly to initialize (teleport) the robot in a particular position
@ -228,6 +229,7 @@ struct InitPoseArgs
double m_initialStateQ[MAX_DEGREE_OF_FREEDOM];
int m_hasInitialStateQdot[MAX_DEGREE_OF_FREEDOM];
double m_initialStateQdot[MAX_DEGREE_OF_FREEDOM];
double m_scaling[3];
};
struct RequestDebugLinesArgs

67
examples/pybullet/pybullet.c
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@ -4891,6 +4891,67 @@ static PyObject* pybullet_resetBasePositionAndOrientation(PyObject* self,
return Py_None;
}
static PyObject* pybullet_changeScaling(PyObject* self,
PyObject* args, PyObject* keywds)
{
{
int bodyUniqueId;
PyObject* scalingObj;
double scaling[3];
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = { "bodyUniqueId", "scaling", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iO|i", kwlist, &bodyUniqueId, &scalingObj, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
{
PyObject* seq;
int len, i;
seq = PySequence_Fast(scalingObj, "expected a sequence");
len = PySequence_Size(scalingObj);
if (len == 3)
{
for (i = 0; i < 3; i++)
{
scaling[i] = pybullet_internalGetFloatFromSequence(seq, i);
}
}
else
{
PyErr_SetString(SpamError, "scaling needs a 3 coordinates [x,y,z].");
Py_DECREF(seq);
return NULL;
}
Py_DECREF(seq);
}
commandHandle = b3CreatePoseCommandInit(sm, bodyUniqueId);
b3CreatePoseCommandSetBaseScaling(commandHandle, scaling);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
}
Py_INCREF(Py_None);
return Py_None;
}
// Get the a single joint info for a specific bodyUniqueId
//
// Args:
@ -12218,6 +12279,12 @@ static PyMethodDef SpamMethods[] = {
"Reset the world position and orientation of the base of the object "
"instantaneously, not through physics simulation. (x,y,z) position vector "
"and (x,y,z,w) quaternion orientation."},
{ "unsupportedChangeScaling",
(PyCFunction)pybullet_changeScaling, METH_VARARGS | METH_KEYWORDS,
"Change the scaling of the base of an object."
"Warning: unsupported rudimentary feature that has many limitations."
},
{"getBaseVelocity", (PyCFunction)pybullet_getBaseVelocity,
METH_VARARGS | METH_KEYWORDS,