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Code Issues Releases Wiki Activity

add fileOpenDialog and enable loading of urdf from GUI

Browse Source 
(will add .bullet file support soon)
Uses native Windows (getFileOpenFileName) and Mac OSX NSOpenPanel,
on Linux using pipe popen to zenity)
This commit is contained in:
Erwin Coumans 2014-08-31 11:53:44 -07:00
parent 8595928949
commit f199a4a972
14 changed files with 250 additions and 50 deletions
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41
Demos3/AllBullet2Demos/main.cpp
View File

@ -181,6 +181,32 @@ static void MyMouseButtonCallback(int button, int state, float x, float y)
#include <string.h>
void openURDFDemo(const char* filename)
{
if (sCurrentDemo)
{
sCurrentDemo->exitPhysics();
app->m_instancingRenderer->removeAllInstances();
delete sCurrentDemo;
sCurrentDemo=0;
}
app->m_parameterInterface->removeAllParameters();
ImportUrdfDemo* physicsSetup = new ImportUrdfDemo();
physicsSetup->setFileName(filename);
sCurrentDemo = new BasicDemo(app, physicsSetup);
if (sCurrentDemo)
{
sCurrentDemo->initPhysics();
}
}
void selectDemo(int demoIndex)
{
sCurrentDemoIndex = demoIndex;
@ -329,6 +355,18 @@ struct GL3TexLoader : public MyTextureLoader
}
};
void fileOpenCallback()
{
char filename[1024];
int len = app->m_window->fileOpenDialog(filename,1024);
if (len)
{
//todo(erwincoumans) check if it is actually URDF
//printf("file open:%s\n", filename);
openURDFDemo(filename);
}
}
extern float shadowMapWorldSize;
int main(int argc, char* argv[])
@ -476,7 +514,8 @@ int main(int argc, char* argv[])
*/
unsigned long int prevTimeInMicroseconds = clock.getTimeMicroseconds();
gui->registerFileOpenCallback(fileOpenCallback);
do
{

1
Demos3/GpuDemos/gwenInternalData.h
View File

@ -40,6 +40,7 @@ struct GwenInternalData
Gwen::Controls::TabButton* m_explorerPage;
Gwen::Controls::TreeControl* m_explorerTreeCtrl;
Gwen::Controls::MenuItem* m_viewMenu;
class MyMenuItems* m_menuItems;
int m_curYposition;

30
Demos3/GpuDemos/gwenUserInterface.cpp
View File

@ -44,13 +44,23 @@ class MyMenuItems : public Gwen::Controls::Base
{
public:
MyMenuItems() :Gwen::Controls::Base(0)
b3FileOpenCallback m_fileOpenCallback;
MyMenuItems() :Gwen::Controls::Base(0),m_fileOpenCallback(0)
{
}
void myQuitApp( Gwen::Controls::Base* pControl )
{
exit(0);
}
void fileOpen( Gwen::Controls::Base* pControl )
{
if (m_fileOpenCallback)
{
(*m_fileOpenCallback)();
}
}
};
struct MyTestMenuBar : public Gwen::Controls::MenuStrip
@ -58,17 +68,20 @@ struct MyTestMenuBar : public Gwen::Controls::MenuStrip
Gwen::Controls::MenuItem* m_fileMenu;
Gwen::Controls::MenuItem* m_viewMenu;
MyMenuItems* m_menuItems;
MyTestMenuBar(Gwen::Controls::Base* pParent)
:Gwen::Controls::MenuStrip(pParent)
{
// Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
{
MyMenuItems* menuItems = new MyMenuItems;
m_menuItems = new MyMenuItems;
m_fileMenu = AddItem( L"File" );
m_fileMenu->GetMenu()->AddItem(L"Quit",menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
m_viewMenu = AddItem( L"View" );
m_fileMenu->GetMenu()->AddItem(L"Open",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
m_fileMenu->GetMenu()->AddItem(L"Quit",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
m_viewMenu = AddItem( L"View" );
}
}
@ -142,6 +155,11 @@ void GwenUserInterface::setStatusBarMessage(const char* message, bool isLeft)
}
}
void GwenUserInterface::registerFileOpenCallback(b3FileOpenCallback callback)
{
m_data->m_menuItems->m_fileOpenCallback = callback;
}
void GwenUserInterface::init(int width, int height,struct sth_stash* stash,float retinaScale)
{
m_data->m_curYposition = 20;
@ -157,6 +175,10 @@ void GwenUserInterface::init(int width, int height,struct sth_stash* stash,float
MyTestMenuBar* menubar = new MyTestMenuBar(m_data->pCanvas);
m_data->m_viewMenu = menubar->m_viewMenu;
m_data->m_menuItems = menubar->m_menuItems;
Gwen::Controls::StatusBar* bar = new Gwen::Controls::StatusBar(m_data->pCanvas);
m_data->m_rightStatusBar = new Gwen::Controls::Label( bar );
m_data->m_rightStatusBar->SetWidth(width/2);

4
Demos3/GpuDemos/gwenUserInterface.h
View File

@ -5,7 +5,7 @@ struct GwenInternalData;
typedef void (*b3ComboBoxCallback) (int combobox, const char* item);
typedef void (*b3ToggleButtonCallback)(int button, int state);
typedef void (*b3FileOpenCallback)();
class GwenUserInterface
@ -40,6 +40,8 @@ class GwenUserInterface
void setStatusBarMessage(const char* message, bool isLeft=true);
void registerFileOpenCallback(b3FileOpenCallback callback);
GwenInternalData* getInternalData()
{
return m_data;

84
Demos3/ImportURDFDemo/ImportURDFSetup.cpp
View File

@ -12,7 +12,7 @@ static bool enableConstraints = true;//false;
ImportUrdfDemo::ImportUrdfDemo()
{
sprintf(m_fileName,"r2d2.urdf");
}
ImportUrdfDemo::~ImportUrdfDemo()
@ -21,7 +21,10 @@ ImportUrdfDemo::~ImportUrdfDemo()
}
void ImportUrdfDemo::setFileName(const char* urdfFileName)
{
memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
}
#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
@ -71,7 +74,7 @@ struct URDF_LinkInformation
btRigidBody* m_bulletRigidBody;
virtual ~URDF_LinkInformation()
{
printf("~\n");
printf("~\n");
}
};
@ -239,12 +242,23 @@ btMultiBody* URDF2BulletMultiBody(my_shared_ptr<const Link> link, GraphicsPhysic
btMatrix3x3 inertia2PrincipalAxis;
inertiaMat.diagonalize(inertia2PrincipalAxis,threshold,maxSteps);
localInertiaDiagonal.setValue(inertiaMat[0][0],inertiaMat[1][1],inertiaMat[2][2]);
btVector3 inertiaLocalCOM((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z);
localInertialTransform.setOrigin(inertiaLocalCOM);
btQuaternion inertiaOrn((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w);
btMatrix3x3 inertiaOrnMat(inertiaOrn);
localInertialTransform.setBasis(inertiaOrnMat*inertia2PrincipalAxis);
btVector3 inertiaLocalCOM((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z);
localInertialTransform.setOrigin(inertiaLocalCOM);
btQuaternion inertiaOrn((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w);
btMatrix3x3 inertiaOrnMat(inertiaOrn);
if (mass > 0 && (localInertiaDiagonal[0]==0.f || localInertiaDiagonal[1] == 0.f
|| localInertiaDiagonal[2] == 0.f))
{
b3Warning("Error: inertia should not be zero if mass is positive\n");
localInertiaDiagonal.setMax(btVector3(0.1,0.1,0.1));
localInertialTransform.setIdentity();//.setBasis(inertiaOrnMat);
}
else
{
localInertialTransform.setBasis(inertiaOrnMat*inertia2PrincipalAxis);
}
}
}
btTransform linkTransformInWorldSpace;
@ -403,30 +417,30 @@ btMultiBody* URDF2BulletMultiBody(my_shared_ptr<const Link> link, GraphicsPhysic
if (shape)//compoundShape->getNumChildShapes()>0)
{
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(mb, linkIndex-1);
col->setCollisionShape(shape);
btTransform tr;
tr.setIdentity();
tr = linkTransformInWorldSpace;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
//tr.setOrigin(local_origin[0]);
//tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(mb, linkIndex-1);
col->setCollisionShape(shape);
btTransform tr;
tr.setIdentity();
tr = linkTransformInWorldSpace;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
//tr.setOrigin(local_origin[0]);
//tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
bool isDynamic = true;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
btVector3 color(0.0,0.0,0.5);
gfxBridge.createCollisionObjectGraphicsObject(col,color);
btScalar friction = 0.5f;
col->setFriction(friction);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
btVector3 color(0.0,0.0,0.5);
gfxBridge.createCollisionObjectGraphicsObject(col,color);
btScalar friction = 0.5f;
col->setFriction(friction);
if (parentIndex>=0)
{
@ -554,6 +568,8 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
//create a joint if necessary
if ((*link).parent_joint)
{
btAssert(pp);
btRigidBody* parentBody =pp->m_bulletRigidBody;
const Joint* pj = (*link).parent_joint.get();
@ -667,11 +683,11 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
m_dynamicsWorld->setGravity(gravity);
//int argc=0;
const char* someFileName="r2d2.urdf";
char relativeFileName[1024];
b3FileUtils fu;
bool fileFound = fu.findFile(someFileName, relativeFileName, 1024);
printf("m_fileName=%s\n", m_fileName);
bool fileFound = fu.findFile(m_fileName, relativeFileName, 1024);
@ -773,6 +789,8 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
groundOrigin[upAxis]=-2.5;
start.setOrigin(groundOrigin);
btRigidBody* body = createRigidBody(0,start,box);
//m_dynamicsWorld->removeRigidBody(body);
// m_dynamicsWorld->addRigidBody(body,2,1);
btVector3 color(0.5,0.5,0.5);
gfxBridge.createRigidBodyGraphicsObject(body,color);
}
@ -787,4 +805,4 @@ void ImportUrdfDemo::stepSimulation(float deltaTime)
//the maximal coordinates/iterative MLCP solver requires a smallish timestep to converge
m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
}
}
}

4
Demos3/ImportURDFDemo/ImportURDFSetup.h
View File

@ -6,12 +6,16 @@
class ImportUrdfDemo : public CommonMultiBodySetup
{
char m_fileName[1024];
public:
ImportUrdfDemo();
virtual ~ImportUrdfDemo();
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
virtual void stepSimulation(float deltaTime);
void setFileName(const char* urdfFileName);
};
#endif //IMPORT_URDF_SETUP_H

2
btgui/OpenGLWindow/MacOpenGLWindow.h
View File

@ -81,7 +81,7 @@ public:
virtual void setWindowTitle(const char* title);
int fileOpenDialog(char* filename, int maxNameLength);
};

42
btgui/OpenGLWindow/MacOpenGLWindow.mm
View File

@ -989,8 +989,48 @@ void MacOpenGLWindow::setRequestExit()
m_internalData->m_exitRequested = true;
}
#include <string.h>
int MacOpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
{
//save/restore the OpenGL context, NSOpenPanel can mess it up
//http://stackoverflow.com/questions/13987148/nsopenpanel-breaks-my-sdl-opengl-app
NSOpenGLContext *foo = [NSOpenGLContext currentContext];
// get the url of a .txt file
NSOpenPanel * zOpenPanel = [NSOpenPanel openPanel];
NSArray * zAryOfExtensions = [NSArray arrayWithObject:@"urdf"];
[zOpenPanel setAllowedFileTypes:zAryOfExtensions];
NSInteger zIntResult = [zOpenPanel runModal];
[foo makeCurrentContext];
if (zIntResult == NSFileHandlingPanelCancelButton) {
NSLog(@"readUsingOpenPanel cancelled");
return 0;
}
NSURL *zUrl = [zOpenPanel URL];
if (zUrl)
{
//without the file://
NSString *myString = [zUrl absoluteString];
int slen = [myString length];
if (slen < maxNameLength)
{
const char *cfilename=[myString UTF8String];
//expect file:// at start of URL
const char* p = strstr(cfilename, "file://");
if (p==cfilename)
{
int actualLen = strlen(cfilename)-7;
memcpy(filename, cfilename+7,actualLen);
filename[actualLen]=0;
return actualLen;
}
}
}
return 0;
}

34
btgui/OpenGLWindow/Win32OpenGLWindow.cpp
View File

@ -137,6 +137,40 @@ void Win32OpenGLWindow::endRendering()
}
int Win32OpenGLWindow::fileOpenDialog(char* fileName, int maxFileNameLength)
{
//wchar_t wideChars[1024];
OPENFILENAME ofn ;
ZeroMemory( &ofn , sizeof( ofn));
ofn.lStructSize = sizeof ( ofn );
ofn.hwndOwner = NULL ;
#ifdef UNICODE
WCHAR bla[1024];
ofn.lpstrFile = bla;
ofn.lpstrFile[0] = '\0';
ofn.nMaxFile = 1023;
ofn.lpstrFilter = L"URDF\0*.urdf\0";
#else
ofn.lpstrFile = fileName;
ofn.lpstrFile[0] = '\0';
ofn.nMaxFile = 1023;
//ofn.lpstrFilter = "All\0*.*\0Text\0*.TXT\0";
ofn.lpstrFilter = "URDF\0*.urdf\0";
#endif
ofn.nFilterIndex =1;
ofn.lpstrFileTitle = NULL ;
ofn.nMaxFileTitle = 0 ;
ofn.lpstrInitialDir=NULL ;
ofn.Flags = OFN_PATHMUSTEXIST|OFN_FILEMUSTEXIST ;
GetOpenFileName( &ofn );
return strlen(fileName);
//return 0;
}

2
btgui/OpenGLWindow/Win32OpenGLWindow.h
View File

@ -51,6 +51,8 @@ public:
virtual void endRendering();
virtual float getRetinaScale() const {return 1.f;}
virtual int fileOpenDialog(char* fileName, int maxFileNameLength);
};

25
btgui/OpenGLWindow/X11OpenGLWindow.cpp
View File

@ -959,4 +959,29 @@ b3KeyboardCallback X11OpenGLWindow::getKeyboardCallback()
{
return m_data->m_keyboardCallback;
}
#include <stdio.h>
int X11OpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
{
int len = 0;
FILE * output = popen("zenity --file-selection --file-filter=\"*.urdf\" --file-filter=\"*.*\"","r");
if (output)
{
while( fgets(filename, maxNameLength-1, output) != NULL )
{
len=strlen(filename);
if (len>0)
{
filename[len-1]=0;
printf("file open (length=%d) = %s\n", len,filename);
}
}
pclose(output);
} else
{
printf("Error: fileOpenDialog no popen output, perhaps install zenity?\n");
}
XRaiseWindow(m_data->m_dpy, m_data->m_win);
return len;
}

1
btgui/OpenGLWindow/X11OpenGLWindow.h
View File

@ -59,6 +59,7 @@ public:
virtual void setWindowTitle(const char* title);
int fileOpenDialog(char* filename, int maxNameLength);
};

2
btgui/OpenGLWindow/b3gWindowInterface.h
View File

@ -110,6 +110,8 @@ class b3gWindowInterface
virtual float getRetinaScale() const =0;
virtual int fileOpenDialog(char* fileName, int maxFileNameLength) = 0;
};
#endif //B3G_WINDOW_INTERFACE_H

28
src/Bullet3Common/b3FileUtils.h
View File

@ -16,11 +16,21 @@ struct b3FileUtils
bool findFile(const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
{
const char* prefix[]={"","./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
FILE* f=0;
f = fopen(orgFileName,"rb");
if (f)
{
//printf("original file found: [%s]\n", orgFileName);
sprintf(relativeFileName,"%s", orgFileName);
fclose(f);
return true;
}
//printf("Trying various directories, relative to current working directory\n");
const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*);
FILE* f=0;
f=0;
bool fileFound = false;
int result = 0;
@ -79,11 +89,11 @@ struct b3FileUtils
path[len]=0;
} else
{
#ifdef _WIN32
sprintf_s(path, maxPathLength,"");
#else
sprintf(path, "");
#endif
b3Assert(maxPathLength>0);
if (maxPathLength>0)
{
path[0] = 0;
}
}
}
@ -103,4 +113,4 @@ struct b3FileUtils
*/
};
#endif //B3_FILE_UTILS_H
#endif //B3_FILE_UTILS_H