Merge pull request #2343 from erwincoumans/master

expose heightfield to pybullet, add pybullet_envs.deep_mimic pretrained humanoid3d policies
author: erwincoumans <erwincoumans@google.com> 2019-07-30 09:07:02 -0700
committer: GitHub <noreply@github.com> 2019-07-30 09:07:02 -0700
commit: d0880a78d5d4b6146475a420b1b875eb91a62314 (patch)
tree: 4e125dd8069a810874d774632d4a72ba14eb8dc8
parent: d2665d3d80b89ef36fad49a8479bd0dd85f65326 (diff)
parent: 4429c6dc9e39e46cf427f939ec580d3ce92eebfb (diff)
download: bullet3-d0880a78d5d4b6146475a420b1b875eb91a62314.tar.gz
36 files changed, 894 insertions, 30 deletions
diff --git a/Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp b/Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
index c3fa088aa..df4106596 100644
--- a/Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
+++ b/Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
@@ -15,6 +15,7 @@ subject to the following restrictions:
 
 #include "btWorldImporter.h"
 #include "btBulletDynamicsCommon.h"
+#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
 #ifdef USE_GIMPACT
 #include "BulletCollision/Gimpact/btGImpactShape.h"
 #endif
@@ -1784,6 +1785,19 @@ btMultiSphereShape* btWorldImporter::createMultiSphereShape(const btVector3* pos
 	return shape;
 }
 
+class btHeightfieldTerrainShape* btWorldImporter::createHeightfieldShape(int heightStickWidth, int heightStickLength,
+	const void* heightfieldData, btScalar heightScale,
+	btScalar minHeight, btScalar maxHeight,
+	int upAxis, int heightDataType,
+	bool flipQuadEdges)
+{
+
+	btHeightfieldTerrainShape* shape = new btHeightfieldTerrainShape(heightStickWidth, heightStickLength,
+			heightfieldData, heightScale, minHeight, maxHeight, upAxis, PHY_ScalarType(heightDataType), flipQuadEdges);
+	m_allocatedCollisionShapes.push_back(shape);
+	return shape;
+}
+
 btRigidBody& btWorldImporter::getFixedBody()
 {
 	static btRigidBody s_fixed(0, 0, 0);
diff --git a/Extras/Serialize/BulletWorldImporter/btWorldImporter.h b/Extras/Serialize/BulletWorldImporter/btWorldImporter.h
index 696064ab4..ba087fba7 100644
--- a/Extras/Serialize/BulletWorldImporter/btWorldImporter.h
+++ b/Extras/Serialize/BulletWorldImporter/btWorldImporter.h
@@ -197,6 +197,12 @@ public:
 
 	virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
 
+	virtual class btHeightfieldTerrainShape* createHeightfieldShape(int heightStickWidth, int heightStickLength,
+		const void* heightfieldData, btScalar heightScale,
+		btScalar minHeight, btScalar maxHeight,
+		int upAxis, int heightDataType,
+		bool flipQuadEdges);
+
 	///acceleration and connectivity structures
 	virtual btOptimizedBvh* createOptimizedBvh();
 	virtual btTriangleInfoMap* createTriangleInfoMap();
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index f5d6dfbf0..afd810980 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -262,9 +262,10 @@ public:
 	btAlignedObjectArray<GLInstanceVertex>* m_pVerticesOut;
 	btAlignedObjectArray<int>* m_pIndicesOut;
 	btVector3 m_aabbMin, m_aabbMax;
+	btScalar m_textureScaling;
 
 	MyTriangleCollector2(const btVector3& aabbMin, const btVector3& aabbMax)
-		:m_aabbMin(aabbMin), m_aabbMax(aabbMax)
+		:m_aabbMin(aabbMin), m_aabbMax(aabbMax), m_textureScaling(1)
 	{
 		m_pVerticesOut = 0;
 		m_pIndicesOut = 0;
@@ -284,9 +285,11 @@ public:
 				v.xyzw[l] = tris[k][l];
 				v.normal[l] = normal[l];
 			}
-
-			v.uv[1] = 1-((v.xyzw[0] - m_aabbMin[0]) / (m_aabbMax[0] - m_aabbMin[0]));
-			v.uv[0] = ((v.xyzw[1] - m_aabbMin[1]) / (m_aabbMax[1] - m_aabbMin[1]));
+			
+			btVector3 extents = m_aabbMax - m_aabbMin;
+			
+			v.uv[0] = (1.-((v.xyzw[0] - m_aabbMin[0]) / (m_aabbMax[0] - m_aabbMin[0])))*m_textureScaling;
+			v.uv[1] = (1.-(v.xyzw[1] - m_aabbMin[1]) / (m_aabbMax[1] - m_aabbMin[1]))*m_textureScaling;
 
 			m_pIndicesOut->push_back(m_pVerticesOut->size());
 			m_pVerticesOut->push_back(v);
@@ -433,7 +436,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
 
 	if (m_data->m_checkedTexture < 0)
 	{
-		m_data->m_checkedTexture = createCheckeredTexture(192, 192, 255);
+		m_data->m_checkedTexture = createCheckeredTexture(173, 199, 255);
 	}
 
 	if (m_data->m_checkedTextureGrey < 0)
@@ -459,6 +462,10 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
 		tr.setIdentity();
 		heightField->getAabb(tr, aabbMin, aabbMax);
 		MyTriangleCollector2  col(aabbMin, aabbMax);
+		if (heightField->getUserValue3())
+		{
+			col.m_textureScaling = heightField->getUserValue3();
+		}
 		col.m_pVerticesOut = &gfxVertices;
 		col.m_pIndicesOut = &indices;
 		for (int k = 0; k < 3; k++)
@@ -472,7 +479,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
 			int userImage = heightField->getUserIndex2();
 			if (userImage == -1)
 			{
-				userImage = m_data->m_checkedTextureGrey;
+				userImage = m_data->m_checkedTexture;
 			}
 			int shapeId = m_data->m_glApp->m_renderer->registerShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(),1, userImage);
 			collisionShape->setUserIndex(shapeId);
diff --git a/examples/Heightfield/HeightfieldExample.cpp b/examples/Heightfield/HeightfieldExample.cpp
index 3b1902b07..4f81c4ada 100644
--- a/examples/Heightfield/HeightfieldExample.cpp
+++ b/examples/Heightfield/HeightfieldExample.cpp
@@ -22,8 +22,8 @@ subject to the following restrictions:
 #include "../MultiThreadedDemo/CommonRigidBodyMTBase.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
 #include "../OpenGLWindow/GLInstanceGraphicsShape.h"
-#include "../../Utils/b3BulletDefaultFileIO.h"
-#include "../../Importers/ImportURDFDemo/urdfStringSplit.h"
+#include "../Utils/b3BulletDefaultFileIO.h"
+#include "../Importers/ImportURDFDemo/urdfStringSplit.h"
 #include "stb_image/stb_image.h"
 
 // constants -------------------------------------------------------------------
@@ -485,14 +485,31 @@ getRawHeightfieldData
                 btAssert(raw && "out of memory");
 
                 byte_t * p = raw;
-                for (int i = 0; i < width; ++i)
+                
+				for (int j = 0; j < width; ++j)
                 {
-                    float x = i * s_gridSpacing;
-                    for (int j = 0; j < width; ++j)
+                    
+					for (int i = 0; i < width; ++i)
                     {
+						float x = i * s_gridSpacing;
                         float y = j * s_gridSpacing;
-                        float z = double(image[i*3+width*j*3])*(40./256.);
+						float heightScaling = (14. / 256.);
+						float z = double(image[(width - 1 - i) * 3 + width*j * 3]) * heightScaling;
                         convertFromFloat(p, z, type);
+						// update min/max
+						if (!i && !j) {
+							minHeight = z;
+							maxHeight = z;
+						}
+						else {
+							if (z < minHeight) {
+								minHeight = z;
+							}
+							if (z > maxHeight) {
+								maxHeight = z;
+							}
+						}
+
                         p += bytesPerElement;
                     }
                 }
@@ -574,6 +591,19 @@ getRawHeightfieldData
                         float y = j * s_gridSpacing;
                         float z = allValues[i+width*j];
                         convertFromFloat(p, z, type);
+						// update min/max
+						if (!i && !j) {
+							minHeight = z;
+							maxHeight = z;
+						}
+						else {
+							if (z < minHeight) {
+								minHeight = z;
+							}
+							if (z > maxHeight) {
+								maxHeight = z;
+							}
+						}
                         p += bytesPerElement;
                     }
                 }
@@ -1112,7 +1142,7 @@ void HeightfieldExample::initPhysics()
 	// set up basic state
 
 
-	m_type = PHY_FLOAT;// SHORT;
+	m_type = PHY_FLOAT;
 	m_model = gHeightfieldType;
 	m_isDynamic = true;
 
@@ -1156,8 +1186,14 @@ void HeightfieldExample::resetPhysics(void)
 			m_upAxis, m_type, flipQuadEdges);
 	btAssert(m_heightfieldShape && "null heightfield");
 
+	// set origin to middle of heightfield
+	btTransform tr;
+	tr.setIdentity();
+	tr.setOrigin(btVector3(0, 0, -4));
+
 	if (m_model== eImageFile)
 	{
+		
 		b3BulletDefaultFileIO fileIO;
 		char relativeFileName[1024];
 		int found = fileIO.findFile("heightmaps/gimp_overlay_out.png", relativeFileName, 1024);
@@ -1206,10 +1242,7 @@ void HeightfieldExample::resetPhysics(void)
 	// stash this shape away
 	m_collisionShapes.push_back(m_heightfieldShape);
 
-	// set origin to middle of heightfield
-	btTransform tr;
-	tr.setIdentity();
-	tr.setOrigin(btVector3(0, 0, 0));
+
 
 	// create ground object
 	float mass = 0.0;
@@ -1249,7 +1282,7 @@ void HeightfieldExample::clearWorld(void)
 		m_collisionShapes.clear();
 
 		// delete raw heightfield data
-		delete m_rawHeightfieldData;
+		delete[] m_rawHeightfieldData;
 		m_rawHeightfieldData = NULL;
 	}
 }
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index 4edf850b2..77c2fabf3 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -55,6 +55,7 @@ enum UrdfGeomTypes
 	URDF_GEOM_PLANE,
 	URDF_GEOM_CAPSULE,  //non-standard URDF
 	URDF_GEOM_CDF,      //signed-distance-field, non-standard URDF
+	URDF_GEOM_HEIGHTFIELD,   //heightfield, non-standard URDF
 	URDF_GEOM_UNKNOWN,
 };
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 1b29da628..aed794cf2 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1310,6 +1310,32 @@ B3_SHARED_API int b3CreateVisualShapeAddCapsule(b3SharedMemoryCommandHandle comm
 	return b3CreateCollisionShapeAddCapsule(commandHandle, radius, height);
 }
 
+B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/], double textureScaling)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE));
+	if ((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE))
+	{
+		int shapeIndex = command->m_createUserShapeArgs.m_numUserShapes;
+		if (shapeIndex < MAX_COMPOUND_COLLISION_SHAPES)
+		{
+			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_type = GEOM_HEIGHTFIELD;
+			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
+			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags = 0;
+			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
+			strcpy(command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileName, fileName);
+			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0];
+			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[1] = meshScale[1];
+			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[2] = meshScale[2];
+			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_heightfieldTextureScaling = textureScaling;
+			command->m_createUserShapeArgs.m_numUserShapes++;
+			return shapeIndex;
+		}
+	}
+	return -1;
+}
+
 B3_SHARED_API int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index d3b9ecbb1..d4fb247e0 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -488,6 +488,8 @@ extern "C"
 	B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[/*3*/]);
 	B3_SHARED_API int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
 	B3_SHARED_API int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
+	B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/], double textureScaling);
+	
 	B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant);
 	B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/]);
 	B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 5132937d0..badf1ec33 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -14,8 +14,8 @@
 #include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
 #include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
 #include "BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h"
-
-
+#include "../Utils/b3BulletDefaultFileIO.h"
+#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
 #include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
@@ -1610,6 +1610,7 @@ struct PhysicsServerCommandProcessorInternalData
 	btAlignedObjectArray<std::string*> m_strings;
 
 	btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
+	btAlignedObjectArray<unsigned char*> m_heightfieldDatas;
 	btAlignedObjectArray<int> m_allocatedTextures;
 	btHashMap<btHashPtr, UrdfCollision> m_bulletCollisionShape2UrdfCollision;
 	btAlignedObjectArray<btStridingMeshInterface*> m_meshInterfaces;
@@ -2806,6 +2807,11 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
 		}
 		delete shape;
 	}
+	for (int j = 0; j < m_data->m_heightfieldDatas.size(); j++)
+	{
+		delete[] m_data->m_heightfieldDatas[j];
+	}
+
 	for (int j = 0; j < m_data->m_meshInterfaces.size(); j++)
 	{
 		delete m_data->m_meshInterfaces[j];
@@ -2819,6 +2825,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
 			m_data->m_guiHelper->removeTexture(texId);
 		}
 	}
+	m_data->m_heightfieldDatas.clear();
 	m_data->m_allocatedTextures.clear();
 	m_data->m_meshInterfaces.clear();
 	m_data->m_collisionShapes.clear();
@@ -4211,6 +4218,208 @@ bool PhysicsServerCommandProcessor::processSaveWorldCommand(const struct SharedM
 	return hasStatus;
 }
 
+
+
+
+
+#define MYLINELENGTH 16*32768
+
+static unsigned char* MyGetRawHeightfieldData(CommonFileIOInterface& fileIO, PHY_ScalarType type, const char* fileName, int& width, int& height,
+	btScalar& minHeight,
+	btScalar& maxHeight)
+{
+	
+	std::string ext;
+	std::string fn(fileName);
+	std::string ext_ = fn.substr(fn.size() - 4);
+	for (std::string::iterator i = ext_.begin(); i != ext_.end(); ++i)
+	{
+		ext += char(tolower(*i));
+	}
+
+	
+	if (ext != ".txt")
+	{
+		
+		char relativeFileName[1024];
+		int found = fileIO.findResourcePath(fileName, relativeFileName, 1024);
+		
+		b3AlignedObjectArray<char> buffer;
+		buffer.reserve(1024);
+		int fileId = fileIO.fileOpen(relativeFileName, "rb");
+		if (fileId >= 0)
+		{
+			int size = fileIO.getFileSize(fileId);
+			if (size>0)
+			{
+				buffer.resize(size);
+				int actual = fileIO.fileRead(fileId, &buffer[0], size);
+				if (actual != size)
+				{
+					b3Warning("STL filesize mismatch!\n");
+					buffer.resize(0);
+				}
+			}
+			fileIO.fileClose(fileId);
+		}
+
+		if (buffer.size())
+		{
+			int n;
+
+			unsigned char* image = stbi_load_from_memory((const unsigned char*)&buffer[0], buffer.size(), &width, &height, &n, 3);
+			if (image)
+			{
+				fileIO.fileClose(fileId);
+				int nElements = width * height;
+				int bytesPerElement = sizeof(btScalar); 
+				btAssert(bytesPerElement > 0 && "bad bytes per element");
+
+				int nBytes = nElements * bytesPerElement;
+				unsigned char * raw = new unsigned char[nBytes];
+				btAssert(raw && "out of memory");
+
+				unsigned char * p = raw;
+				for (int j = 0; j < height; ++j)
+				
+				{
+					
+					for (int i = 0; i < width; ++i)
+					{
+						
+						float z = double(image[(width-1-i) * 3+ width*j * 3])*(1. / 255.);
+						btScalar * pf = (btScalar *)p;
+						*pf = z;
+						p += bytesPerElement;
+						// update min/max
+						if (!i && !j) 
+						{
+							minHeight = z;
+							maxHeight = z;
+						}
+						else 
+						{
+							if (z < minHeight) 
+							{
+								minHeight = z;
+							}
+							if (z > maxHeight) 
+							{
+								maxHeight = z;
+							}
+						}
+					}
+				}
+				free (image);
+
+				return raw;
+			}
+		}
+	}
+
+	if (ext == ".txt")
+	{
+		//read a csv file as used in DeepLoco
+		{
+			char relativePath[1024];
+			int found = fileIO.findResourcePath(fileName, relativePath, 1024);
+			btAlignedObjectArray<char> lineBuffer;
+			lineBuffer.resize(MYLINELENGTH);
+			int slot = fileIO.fileOpen(relativePath, "r");
+			int rows = 0;
+			int cols = 0;
+
+			btAlignedObjectArray<double> allValues;
+			if (slot >= 0)
+			{
+				char* lineChar;
+				while (lineChar = fileIO.readLine(slot, &lineBuffer[0], MYLINELENGTH))
+				{
+					rows = 0;
+					std::string line(lineChar);
+					int pos=0;
+					while (pos < line.length())
+					{
+						int nextPos = pos+1;
+						while (nextPos < line.length())
+						{
+							if (line[nextPos-1] == ',')
+							{
+								break;
+							}
+							nextPos++;
+						}
+						std::string substr = line.substr(pos, nextPos-pos-1);
+
+						double v;
+						if (sscanf(substr.c_str(), "%lf", &v) == 1)
+						{
+							allValues.push_back(v);
+							rows++;
+						}
+						pos = nextPos;
+					}
+					cols++;
+
+				}
+				width = rows;
+				height = cols;
+				
+				fileIO.fileClose(slot);
+				int nElements = width * height;
+				//	std::cerr << "  nElements = " << nElements << "\n";
+
+				int bytesPerElement = sizeof(btScalar);
+				//	std::cerr << "  bytesPerElement = " << bytesPerElement << "\n";
+				btAssert(bytesPerElement > 0 && "bad bytes per element");
+
+				long nBytes = nElements * bytesPerElement;
+				//	std::cerr << "  nBytes = " << nBytes << "\n";
+				unsigned char * raw = new unsigned char[nBytes];
+				btAssert(raw && "out of memory");
+
+				unsigned char* p = raw;
+				for (int i = 0; i < width; ++i)
+				{
+					
+					for (int j = 0; j < height; ++j)
+					{
+						
+						float z = allValues[i + width*j];
+						//convertFromFloat(p, z, type);
+						btScalar * pf = (btScalar *)p;
+						*pf = z;
+						p += bytesPerElement;
+						// update min/max
+						if (!i && !j)
+						{
+							minHeight = z;
+							maxHeight = z;
+						}
+						else
+						{
+							if (z < minHeight)
+							{
+								minHeight = z;
+							}
+							if (z > maxHeight)
+							{
+								maxHeight = z;
+							}
+						}
+						
+					}
+				}
+				return raw;
+			}
+		}
+	}
+
+	
+	return 0;
+}
+
+
 bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	bool hasStatus = true;
@@ -4320,6 +4529,47 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 
 				break;
 			}
+			case GEOM_HEIGHTFIELD:
+			{
+				int width;
+				int height;
+				btScalar minHeight, maxHeight;
+				PHY_ScalarType scalarType = PHY_FLOAT;
+				CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
+				unsigned char* heightfieldData = MyGetRawHeightfieldData(*fileIO, scalarType, clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshFileName, width, height, minHeight, maxHeight);
+				if (heightfieldData)
+				{
+					
+					btScalar gridSpacing = 0.5;
+					btScalar gridHeightScale = 1. / 256.;
+
+					bool flipQuadEdges = false;
+					int upAxis = 2;
+					btHeightfieldTerrainShape* heightfieldShape = worldImporter->createHeightfieldShape( width, height,
+						heightfieldData,
+							gridHeightScale,
+							minHeight, maxHeight,
+							upAxis, int(scalarType), flipQuadEdges);
+					
+					heightfieldShape->setUserValue3(clientCmd.m_createUserShapeArgs.m_shapes[i].m_heightfieldTextureScaling);
+					shape = heightfieldShape;
+					if (upAxis == 2)
+						heightfieldShape->setFlipTriangleWinding(true);
+					//buildAccelerator is optional, it may not support all features.
+					heightfieldShape->buildAccelerator();
+
+					// scale the shape
+					btVector3 localScaling(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0],
+						clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[1],
+						clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[2]);
+					
+					heightfieldShape->setLocalScaling(localScaling);
+					
+					this->m_data->m_heightfieldDatas.push_back(heightfieldData);
+						
+				}
+				break;
+			}
 			case GEOM_PLANE:
 			{
 				btVector3 planeNormal(clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[0],
@@ -4340,6 +4590,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 
 				break;
 			}
+			
 			case GEOM_MESH:
 			{
 				btVector3 meshScale(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0],
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index eadded409..f5e1046e1 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -1499,6 +1499,7 @@ public:
 	{
 		//printf("key=%d, state=%d\n", key,state);
 		{
+			m_args[0].m_csGUI->lock();
 			int keyIndex = -1;
 			//is already there?
 			for (int i = 0; i < m_args[0].m_keyboardEvents.size(); i++)
@@ -1515,7 +1516,7 @@ public:
 				b3KeyboardEvent ev;
 				ev.m_keyCode = key;
 				ev.m_keyState = eButtonIsDown + eButtonTriggered;
-				m_args[0].m_csGUI->lock();
+				
 				if (keyIndex >= 0)
 				{
 					if (0 == (m_args[0].m_keyboardEvents[keyIndex].m_keyState & eButtonIsDown))
@@ -1527,11 +1528,10 @@ public:
 				{
 					m_args[0].m_keyboardEvents.push_back(ev);
 				}
-				m_args[0].m_csGUI->unlock();
+				
 			}
 			else
 			{
-				m_args[0].m_csGUI->lock();
 				b3KeyboardEvent ev;
 				ev.m_keyCode = key;
 				ev.m_keyState = eButtonReleased;
@@ -1543,8 +1543,9 @@ public:
 				{
 					m_args[0].m_keyboardEvents.push_back(ev);
 				}
-				m_args[0].m_csGUI->unlock();
+				
 			}
+			m_args[0].m_csGUI->unlock();
 		}
 		/*printf("m_args[0].m_keyboardEvents.size()=%d\n", m_args[0].m_keyboardEvents.size());
 		for (int i=0;i<m_args[0].m_keyboardEvents.size();i++)
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 2691790ef..7323f4884 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -958,6 +958,7 @@ struct b3CreateUserShapeData
 	int m_numIndices;
 	int m_numUVs;
 	int m_numNormals;
+	double m_heightfieldTextureScaling;
 	double m_rgbaColor[4];
 	double m_specularColor[3];
 };
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 56f6657cb..babf06d8f 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -886,6 +886,8 @@ enum eUrdfGeomTypes  //sync with UrdfParser UrdfGeomTypes
 	GEOM_MESH,
 	GEOM_PLANE,
 	GEOM_CAPSULE,  //non-standard URDF?
+	GEOM_SDF,      //signed-distance-field, non-standard URDF
+	GEOM_HEIGHTFIELD,
 	GEOM_UNKNOWN,
 };
 
diff --git a/examples/pybullet/examples/heightfield.py b/examples/pybullet/examples/heightfield.py
new file mode 100644
index 000000000..4f67d35f4
--- /dev/null
+++ b/examples/pybullet/examples/heightfield.py
@@ -0,0 +1,93 @@
+import pybullet as p
+import pybullet_data as pd
+
+import time
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+
+textureId = -1
+useDeepLocoCSV = False
+
+if useDeepLocoCSV:
+  terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.5,.5,2.5],fileName = "heightmaps/ground0.txt", heightfieldTextureScaling=128)#Image8x4.png")#wm_height_out.png")
+  terrain  = p.createMultiBody(0, terrainShape)
+  p.resetBasePositionAndOrientation(terrain,[-8,0,-2], [0,0,0,1])
+else:
+  terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.1,.1,24],fileName = "heightmaps/wm_height_out.png")
+  textureId = p.loadTexture("heightmaps/gimp_overlay_out.png")
+  terrain  = p.createMultiBody(0, terrainShape)
+  p.changeVisualShape(terrain, -1, textureUniqueId = textureId)
+ 
+ 
+p.changeVisualShape(terrain, -1, rgbaColor=[1,1,1,1])
+
+
+sphereRadius = 0.05
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
+colBoxId = p.createCollisionShape(p.GEOM_BOX,
+                                  halfExtents=[sphereRadius, sphereRadius, sphereRadius])
+
+mass = 1
+visualShapeId = -1
+
+link_Masses = [1]
+linkCollisionShapeIndices = [colBoxId]
+linkVisualShapeIndices = [-1]
+linkPositions = [[0, 0, 0.11]]
+linkOrientations = [[0, 0, 0, 1]]
+linkInertialFramePositions = [[0, 0, 0]]
+linkInertialFrameOrientations = [[0, 0, 0, 1]]
+indices = [0]
+jointTypes = [p.JOINT_REVOLUTE]
+axis = [[0, 0, 1]]
+
+for i in range(3):
+  for j in range(3):
+    for k in range(3):
+      basePosition = [
+          i * 5 * sphereRadius, j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
+      ]
+      baseOrientation = [0, 0, 0, 1]
+      if (k & 2):
+        sphereUid = p.createMultiBody(mass, colSphereId, visualShapeId, basePosition,
+                                      baseOrientation)
+      else:
+        sphereUid = p.createMultiBody(mass,
+                                      colBoxId,
+                                      visualShapeId,
+                                      basePosition,
+                                      baseOrientation,
+                                      linkMasses=link_Masses,
+                                      linkCollisionShapeIndices=linkCollisionShapeIndices,
+                                      linkVisualShapeIndices=linkVisualShapeIndices,
+                                      linkPositions=linkPositions,
+                                      linkOrientations=linkOrientations,
+                                      linkInertialFramePositions=linkInertialFramePositions,
+                                      linkInertialFrameOrientations=linkInertialFrameOrientations,
+                                      linkParentIndices=indices,
+                                      linkJointTypes=jointTypes,
+                                      linkJointAxis=axis)
+
+      
+      p.changeDynamics(sphereUid,
+                       -1,
+                       spinningFriction=0.001,
+                       rollingFriction=0.001,
+                       linearDamping=0.0)
+      for joint in range(p.getNumJoints(sphereUid)):
+        p.setJointMotorControl2(sphereUid, joint, p.VELOCITY_CONTROL, targetVelocity=1, force=10)
+
+p.setGravity(0, 0, -10)
+p.setRealTimeSimulation(1)
+
+p.getNumJoints(sphereUid)
+for i in range(p.getNumJoints(sphereUid)):
+  p.getJointInfo(sphereUid, i)
+
+while (1):
+  keys = p.getKeyboardEvents()
+  print(keys)
+  #getCameraImage note: software/TinyRenderer doesn't render/support heightfields!
+  #p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL)
+  time.sleep(0.01)
diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_cartwheel.ckpt.data-00000-of-00001 b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_cartwheel.ckpt.data-00000-of-00001
new file mode 100644
index 000000000..be09c1ab8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_cartwheel.ckpt.data-00000-of-00001
diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_cartwheel.ckpt.index b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_cartwheel.ckpt.index
new file mode 100644
index 000000000..8f0663927
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_cartwheel.ckpt.index
diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_crawl.ckpt.data-00000-of-00001 b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_crawl.ckpt.data-00000-of-00001
new file mode 100644
index 000000000..a39884bf6
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_crawl.ckpt.data-00000-of-00001
diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_crawl.ckpt.index b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_crawl.ckpt.index
new file mode 100644
index 000000000..fe4193af6
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_crawl.ckpt.index
diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.data-00000-of-00001 b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.data-00000-of-00001
new file mode 100644
index 000000000..68e0428f6
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.data-00000-of-00001
diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.index b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.index
new file mode 100644
index 000000000..c9e7c8a75
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_jump.ckpt.index
diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.data-00000-of-00001 b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.data-00000-of-00001
new file mode 100644
index 000000000..e499b1f26
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.data-00000-of-00001
diff --git a/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.index b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.index
new file mode 100644
index 000000000..e97a0648f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d/humanoid3d_spinkick.ckpt.index
diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/Image8x4.png b/examples/pybullet/gym/pybullet_data/heightmaps/Image8x4.png
new file mode 100644
index 000000000..ff1a174f5
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/Image8x4.png
diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/Maze.png b/examples/pybullet/gym/pybullet_data/heightmaps/Maze.png
new file mode 100644
index 000000000..25654fed0
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/Maze.png
diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/gimp_overlay_out.png b/examples/pybullet/gym/pybullet_data/heightmaps/gimp_overlay_out.png
new file mode 100644
index 000000000..a112c5fdc
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/gimp_overlay_out.png
diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/ground0.txt b/examples/pybullet/gym/pybullet_data/heightmaps/ground0.txt
new file mode 100644
index 000000000..2a5b1141c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/ground0.txt
@@ -0,0 +1,401 @@
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+\ No newline at end of file
diff --git a/data/heightmaps/ground1.txt b/examples/pybullet/gym/pybullet_data/heightmaps/ground1.txt
index b8a5eca03..b8a5eca03 100644
--- a/data/heightmaps/ground1.txt
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/ground1.txt
diff --git a/data/heightmaps/ground2.txt b/examples/pybullet/gym/pybullet_data/heightmaps/ground2.txt
index c7022bc79..c7022bc79 100644
--- a/data/heightmaps/ground2.txt
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/ground2.txt
diff --git a/data/heightmaps/ground3.txt b/examples/pybullet/gym/pybullet_data/heightmaps/ground3.txt
index 8056663eb..8056663eb 100644
--- a/data/heightmaps/ground3.txt
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/ground3.txt
diff --git a/data/heightmaps/ground4.txt b/examples/pybullet/gym/pybullet_data/heightmaps/ground4.txt
index 8f16150f2..8f16150f2 100644
--- a/data/heightmaps/ground4.txt
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/ground4.txt
diff --git a/data/heightmaps/ground5.txt b/examples/pybullet/gym/pybullet_data/heightmaps/ground5.txt
index 68f9882be..68f9882be 100644
--- a/data/heightmaps/ground5.txt
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/ground5.txt
diff --git a/data/heightmaps/ground6.txt b/examples/pybullet/gym/pybullet_data/heightmaps/ground6.txt
index 482ebaad4..482ebaad4 100644
--- a/data/heightmaps/ground6.txt
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/ground6.txt
diff --git a/data/heightmaps/ground7.txt b/examples/pybullet/gym/pybullet_data/heightmaps/ground7.txt
index 4f06fa3c1..4f06fa3c1 100644
--- a/data/heightmaps/ground7.txt
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/ground7.txt
diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/readme.txt b/examples/pybullet/gym/pybullet_data/heightmaps/readme.txt
new file mode 100644
index 000000000..d66dbce8a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/readme.txt
@@ -0,0 +1,4 @@
+wm_height_out.png and gimp_overlay_out assets from this Blender tutorial:
+https://www.beamng.com/threads/tutorial-adding-heightmap-roads-using-blender.16356/
+
+groundX.txt assets from DeepLoco, used with permission from Jason Peng.
+\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_data/heightmaps/wm_height_out.png b/examples/pybullet/gym/pybullet_data/heightmaps/wm_height_out.png
new file mode 100644
index 000000000..d3edf9ff0
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/heightmaps/wm_height_out.png
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 1065c166d..606851d7a 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -7967,14 +7967,14 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
 	double collisionFrameOrientation[4] = {0, 0, 0, 1};
 	char* fileName = 0;
 	int flags = 0;
-
+	double heightfieldTextureScaling = 1;
 	PyObject* halfExtentsObj = 0;
 	PyObject* verticesObj = 0;
 	PyObject* indicesObj = 0;
 
-	static char* kwlist[] = {"shapeType", "radius", "halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "collisionFramePosition", "collisionFrameOrientation", "vertices", "indices", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOi", kwlist,
-									 &shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &physicsClientId))
+	static char* kwlist[] = {"shapeType", "radius", "halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "collisionFramePosition", "collisionFrameOrientation", "vertices", "indices", "heightfieldTextureScaling", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOdi", kwlist,
+									 &shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &heightfieldTextureScaling, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -8010,6 +8010,15 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
 		{
 			shapeIndex = b3CreateCollisionShapeAddCylinder(commandHandle, radius, height);
 		}
+		if (shapeType == GEOM_HEIGHTFIELD && fileName)
+		{
+			if (meshScaleObj)
+			{
+				pybullet_internalSetVectord(meshScaleObj, meshScale);
+			}
+			shapeIndex = b3CreateCollisionShapeAddHeightfield(commandHandle, fileName, meshScale, heightfieldTextureScaling);
+
+		}
 		if (shapeType == GEOM_MESH && fileName)
 		{
 			pybullet_internalSetVectord(meshScaleObj, meshScale);
@@ -12394,6 +12403,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "GEOM_MESH", GEOM_MESH);
 	PyModule_AddIntConstant(m, "GEOM_PLANE", GEOM_PLANE);
 	PyModule_AddIntConstant(m, "GEOM_CAPSULE", GEOM_CAPSULE);
+	PyModule_AddIntConstant(m, "GEOM_HEIGHTFIELD", GEOM_HEIGHTFIELD);
+	
 
 	PyModule_AddIntConstant(m, "GEOM_FORCE_CONCAVE_TRIMESH", GEOM_FORCE_CONCAVE_TRIMESH);
 	PyModule_AddIntConstant(m, "GEOM_CONCAVE_INTERNAL_EDGE", GEOM_CONCAVE_INTERNAL_EDGE);
diff --git a/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
index c99701dd3..d4c2e1199 100644
--- a/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -21,7 +21,8 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(
 	int heightStickWidth, int heightStickLength, const void* heightfieldData,
 	btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
 	PHY_ScalarType hdt, bool flipQuadEdges)
-	:m_userIndex2(-1)
+	:m_userIndex2(-1),
+	m_userValue3(0)
 {
 	initialize(heightStickWidth, heightStickLength, heightfieldData,
 			   heightScale, minHeight, maxHeight, upAxis, hdt,
@@ -29,7 +30,8 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(
 }
 
 btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges)
-	:m_userIndex2(-1)
+	:m_userIndex2(-1),
+	m_userValue3(0)
 {
 	// legacy constructor: support only float or unsigned char,
 	// 	and min height is zero
diff --git a/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
index c6b518db5..e0f25840b 100644
--- a/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+++ b/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -115,6 +115,7 @@ protected:
 	int m_vboundsChunkSize;
 
 	int m_userIndex2;
+	btScalar m_userValue3;
 
 	virtual btScalar getRawHeightFieldValue(int x, int y) const;
 	void quantizeWithClamp(int* out, const btVector3& point, int isMax) const;
@@ -197,6 +198,14 @@ public:
 	{
 		return m_userIndex2;
 	}
+	void setUserValue3(btScalar value)
+	{
+		m_userValue3 = value;
+	}
+	btScalar getUserValue3() const
+	{
+		return m_userValue3;
+	}
 };
 
 #endif  //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
 \ No newline at end of file
author	erwincoumans <erwincoumans@google.com>	2019-07-30 09:07:02 -0700
committer	GitHub <noreply@github.com>	2019-07-30 09:07:02 -0700
commit	d0880a78d5d4b6146475a420b1b875eb91a62314 (patch)
tree	4e125dd8069a810874d774632d4a72ba14eb8dc8
parent	d2665d3d80b89ef36fad49a8479bd0dd85f65326 (diff)
parent	4429c6dc9e39e46cf427f939ec580d3ce92eebfb (diff)
download	bullet3-d0880a78d5d4b6146475a420b1b875eb91a62314.tar.gz