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Merge pull request #834 from erwincoumans/master
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Add rudimentary 'saveWorld' command in shared memory API and pybullet…
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@erwincoumans
erwincoumans committed Oct 13, 2016
2 parents 729ae8d + 1a62f21 commit 4ebc327
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Showing 12 changed files with 281 additions and 10 deletions.
4 changes: 3 additions & 1 deletion examples/OpenGLWindow/GLInstancingRenderer.cpp
View file
Expand Up @@ -1465,7 +1465,9 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
#endif//OLD_SHADOWMAP_INIT

glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);



float l_ClampColor[] = {1.0, 1.0, 1.0, 1.0};
glTexParameterfv(GL_TEXTURE_2D, GL_TEXTURE_BORDER_COLOR, l_ClampColor);
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2 changes: 1 addition & 1 deletion examples/OpenGLWindow/GLPrimitiveRenderer.cpp
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Expand Up @@ -223,7 +223,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVert
bool useFiltering = false;
if (useFiltering)
{
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
} else
{
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4 changes: 2 additions & 2 deletions examples/OpenGLWindow/SimpleOpenGL3App.cpp
View file
Expand Up @@ -107,7 +107,7 @@ static GLuint BindFont(const CTexFont *_Font)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,GL_NEAREST);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,GL_NEAREST);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_LINEAR);
glBindTexture(GL_TEXTURE_2D, 0);

return TexID;
Expand Down Expand Up @@ -830,7 +830,7 @@ void SimpleOpenGL3App::dumpNextFrameToPng(const char* filename)
, 0,GL_RGBA, GL_FLOAT, 0);

glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);

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4 changes: 2 additions & 2 deletions examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
View file
Expand Up @@ -126,7 +126,7 @@ void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_gly
texture->m_texels = (unsigned char*)malloc(textureWidth*textureHeight);
memset(texture->m_texels,0,textureWidth*textureHeight);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, textureWidth, textureHeight, 0, GL_RED, GL_UNSIGNED_BYTE, texture->m_texels);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
assert(glGetError()==GL_NO_ERROR);

Expand Down Expand Up @@ -187,7 +187,7 @@ void InternalOpenGL2RenderCallbacks::render(sth_texture* texture)
bool useFiltering = false;
if (useFiltering)
{
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
} else
{
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22 changes: 21 additions & 1 deletion examples/SharedMemory/PhysicsClientC_API.cpp
View file
Expand Up @@ -30,7 +30,27 @@ b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClien
return (b3SharedMemoryCommandHandle) command;
}


b3SharedMemoryCommandHandle b3SaveWorldCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());

struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_SAVE_WORLD;
int len = strlen(sdfFileName);
if (len<MAX_SDF_FILENAME_LENGTH)
{
strcpy(command->m_sdfArguments.m_sdfFileName,sdfFileName);
} else
{
command->m_sdfArguments.m_sdfFileName[0] = 0;
}
command->m_updateFlags = SDF_ARGS_FILE_NAME;

return (b3SharedMemoryCommandHandle) command;
}

b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{
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3 changes: 3 additions & 0 deletions examples/SharedMemory/PhysicsClientC_API.h
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Expand Up @@ -146,6 +146,9 @@ int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle status
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);

b3SharedMemoryCommandHandle b3SaveWorldCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);


///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);

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7 changes: 7 additions & 0 deletions examples/SharedMemory/PhysicsClientExample.cpp
View file
Expand Up @@ -451,6 +451,12 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_SAVE_WORLD:
{
b3SharedMemoryCommandHandle commandHandle = b3SaveWorldCommandInit(m_physicsClientHandle, "saveWorld.py");
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
default:
{
b3Error("Unknown buttonId");
Expand Down Expand Up @@ -525,6 +531,7 @@ void PhysicsClientExample::createButtons()

createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Load SDF",CMD_LOAD_SDF, isTrigger);
createButton("Save World",CMD_SAVE_WORLD, isTrigger);
createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
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14 changes: 12 additions & 2 deletions examples/SharedMemory/PhysicsClientSharedMemory.cpp
View file
Expand Up @@ -615,15 +615,25 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Contact Point Information Request failed");
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED:
{

case CMD_SAVE_WORLD_COMPLETED:
break;

case CMD_SAVE_WORLD_FAILED:
{
b3Warning("Saving world failed");
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED:
{
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_FAILED:
{
b3Warning("Calculate Inverse Kinematics Request failed");
break;
}

default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);
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172 changes: 171 additions & 1 deletion examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View file
Expand Up @@ -301,6 +301,12 @@ struct CommandLogPlayback
}
};

struct SaveWorldObjectData
{
b3AlignedObjectArray<int> m_bodyUniqueIds;
std::string m_fileName;
};

struct PhysicsServerCommandProcessorInternalData
{
///handle management
Expand Down Expand Up @@ -410,7 +416,7 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
btHashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;

b3AlignedObjectArray<SaveWorldObjectData> m_saveWorldBodyData;


btAlignedObjectArray<btBulletWorldImporter*> m_worldImporters;
Expand Down Expand Up @@ -811,6 +817,9 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
{
b3Printf("loaded %s OK!", fileName);
}
SaveWorldObjectData sd;
sd.m_fileName = fileName;


for (int m =0; m<u2b.getNumModels();m++)
{
Expand All @@ -824,6 +833,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe

InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);

sd.m_bodyUniqueIds.push_back(bodyUniqueId);

u2b.setBodyUniqueId(bodyUniqueId);
{
Expand Down Expand Up @@ -854,6 +864,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
if (mb)
mb->setUserIndex2(bodyUniqueId);


if (mb)
{
bodyHandle->m_multiBody = mb;
Expand Down Expand Up @@ -898,6 +909,9 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
}

}

m_data->m_saveWorldBodyData.push_back(sd);

}
return loadOk;
}
Expand Down Expand Up @@ -930,6 +944,14 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
if (bodyUniqueIdPtr)
*bodyUniqueIdPtr= bodyUniqueId;

//quick prototype of 'save world' for crude world editing
{
SaveWorldObjectData sd;
sd.m_fileName = fileName;
sd.m_bodyUniqueIds.push_back(bodyUniqueId);
m_data->m_saveWorldBodyData.push_back(sd);
}

u2b.setBodyUniqueId(bodyUniqueId);
InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);

Expand Down Expand Up @@ -1336,6 +1358,154 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
}
case CMD_SAVE_WORLD:
{
///this is a very rudimentary way to save the state of the world, for scene authoring
///many todo's, for example save the state of motor controllers etc.

if (clientCmd.m_sdfArguments.m_sdfFileName)
{
//saveWorld(clientCmd.m_sdfArguments.m_sdfFileName);

FILE* f = fopen(clientCmd.m_sdfArguments.m_sdfFileName,"w");
if (f)
{
char line[1024];
{
sprintf(line,"import pybullet as p\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
{
sprintf(line,"p.connect(p.SHARED_MEMORY)\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
//for each objects ...
for (int i=0;i<m_data->m_saveWorldBodyData.size();i++)
{
SaveWorldObjectData& sd = m_data->m_saveWorldBodyData[i];

for (int i=0;i<sd.m_bodyUniqueIds.size();i++)
{
{
int bodyUniqueId = sd.m_bodyUniqueIds[i];
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
if (body)
{
if (body->m_multiBody)
{
btMultiBody* mb = body->m_multiBody;

btTransform comTr = mb->getBaseWorldTransform();
btTransform tr = comTr * body->m_rootLocalInertialFrame.inverse();

if (strstr(sd.m_fileName.c_str(),".urdf"))
{
sprintf(line,"objects = [p.loadURDF(\"%s\", %f,%f,%f,%f,%f,%f,%f)]\n",sd.m_fileName.c_str(),
tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2],
tr.getRotation()[0],tr.getRotation()[1],tr.getRotation()[2],tr.getRotation()[3]);
int len = strlen(line);
fwrite(line,len,1,f);
}

if (strstr(sd.m_fileName.c_str(),".sdf") && i==0)
{
sprintf(line,"objects = p.loadSDF(\"%s\")\n",sd.m_fileName.c_str());
int len = strlen(line);
fwrite(line,len,1,f);
}

if (strstr(sd.m_fileName.c_str(),".sdf") || ((strstr(sd.m_fileName.c_str(),".urdf")) && mb->getNumLinks()) )
{
sprintf(line,"ob = objects[%d]\n",i);
int len = strlen(line);
fwrite(line,len,1,f);
}

if (strstr(sd.m_fileName.c_str(),".sdf"))
{
sprintf(line,"p.resetBasePositionAndOrientation(ob,[%f,%f,%f],[%f,%f,%f,%f])\n",
comTr.getOrigin()[0],comTr.getOrigin()[1],comTr.getOrigin()[2],
comTr.getRotation()[0],comTr.getRotation()[1],comTr.getRotation()[2],comTr.getRotation()[3]);
int len = strlen(line);
fwrite(line,len,1,f);
}

if (mb->getNumLinks())
{
{
sprintf(line,"jointPositions=[");
int len = strlen(line);
fwrite(line,len,1,f);
}

for (int i=0;i<mb->getNumLinks();i++)
{
btScalar jointPos = mb->getJointPosMultiDof(i)[0];
if (i<mb->getNumLinks()-1)
{
sprintf(line," %f,",jointPos);
int len = strlen(line);
fwrite(line,len,1,f);
} else
{
sprintf(line," %f ",jointPos);
int len = strlen(line);
fwrite(line,len,1,f);
}
}

{
sprintf(line,"]\nfor jointIndex in range (p.getNumJoints(ob)):\n\tp.resetJointState(ob,jointIndex,jointPositions[jointIndex])\n\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
}
} else
{
//todo: btRigidBody/btSoftBody etc case
}
}
}

}

//for URDF, load at origin, then reposition...


struct SaveWorldObjectData
{
b3AlignedObjectArray<int> m_bodyUniqueIds;
std::string m_fileName;
};
}

{
btVector3 grav=this->m_data->m_dynamicsWorld->getGravity();
sprintf(line,"p.setGravity(%f,%f,%f)\n",grav[0],grav[1],grav[2]);
int len = strlen(line);
fwrite(line,len,1,f);
}


{
sprintf(line,"p.stepSimulation()\np.disconnect()\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
fclose(f);
}


serverStatusOut.m_type = CMD_SAVE_WORLD_COMPLETED;
hasStatus = true;
break;
}
serverStatusOut.m_type = CMD_SAVE_WORLD_FAILED;
hasStatus = true;
break;
}
case CMD_LOAD_SDF:
{
const SdfArgs& sdfArgs = clientCmd.m_sdfArguments;
Expand Down
5 changes: 5 additions & 0 deletions examples/SharedMemory/SharedMemoryPublic.h
View file
Expand Up @@ -32,6 +32,7 @@ enum EnumSharedMemoryClientCommand
CMD_CALCULATE_JACOBIAN,
CMD_CREATE_JOINT,
CMD_REQUEST_CONTACT_POINT_INFORMATION,
CMD_SAVE_WORLD,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,

Expand Down Expand Up @@ -74,6 +75,10 @@ enum EnumSharedMemoryServerStatus
CMD_CONTACT_POINT_INFORMATION_FAILED,
CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED,
CMD_CALCULATE_INVERSE_KINEMATICS_FAILED,
CMD_SAVE_WORLD_COMPLETED,
CMD_SAVE_WORLD_FAILED,

//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};

Expand Down

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