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add option to use hardware OpenGL renderer for synthetic camera

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This commit is contained in:
Erwin Coumans
2016-07-12 18:16:13 -07:00
parent 787cb0cb17
commit 10cc6f14cb
18 changed files with 138 additions and 94 deletions
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8
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@@ -46,7 +46,7 @@ struct GUIHelperInterface
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)=0;
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)=0;
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)=0;
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
@@ -107,12 +107,8 @@ struct DummyGUIHelper : public GUIHelperInterface
{
}
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int width, int height, int* numPixelsCopied)
{
if (width)
*width = 0;
if (height)
*height = 0;
if (numPixelsCopied)
*numPixelsCopied = 0;
}

2
examples/CommonInterfaces/CommonGraphicsAppInterface.h
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@@ -77,7 +77,7 @@ struct CommonGraphicsApp
virtual void dumpNextFrameToPng(const char* pngFilename){}
virtual void dumpFramesToVideo(const char* mp4Filename){}
virtual void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes){};
virtual void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes){}
virtual void getBackgroundColor(float* red, float* green, float* blue) const
{

17
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -970,14 +970,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
s_instancingRenderer->updateCamera(dg.upAxis);
}
if (renderGrid)
{
BT_PROFILE("Draw Grid");
glPolygonOffset(3.0, 3);
glEnable(GL_POLYGON_OFFSET_FILL);
s_app->drawGrid(dg);
}
static int frameCount = 0;
frameCount++;
@@ -1025,6 +1018,14 @@ void OpenGLExampleBrowser::update(float deltaTime)
}
}
if (renderGrid)
{
BT_PROFILE("Draw Grid");
glPolygonOffset(3.0, 3);
glEnable(GL_POLYGON_OFFSET_FILL);
s_app->drawGrid(dg);
}
if (renderVisualGeometry && ((gDebugDrawFlags&btIDebugDraw::DBG_DrawWireframe)==0))
{
if (visualWireframe)

80
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -8,7 +8,7 @@
#include "CollisionShape2TriangleMesh.h"
#include "../OpenGLWindow/SimpleCamera.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
//backwards compatibility
#include "GL_ShapeDrawer.h"
@@ -144,8 +144,8 @@ struct OpenGLGuiHelperInternalData
class MyDebugDrawer* m_debugDraw;
GL_ShapeDrawer* m_gl2ShapeDrawer;
btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer;
btAlignedObjectArray<float> m_depthBuffer;
btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer1;
btAlignedObjectArray<float> m_depthBuffer1;
};
@@ -337,19 +337,15 @@ void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float c
}
void OpenGLGuiHelper::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
{
int w = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
int h = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
int sourceWidth = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
int sourceHeight = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
if (widthPtr)
*widthPtr = w;
if (heightPtr)
*heightPtr = h;
if (numPixelsCopied)
*numPixelsCopied = 0;
int numTotalPixels = w*h;
int numTotalPixels = destinationWidth*destinationHeight;
int numRemainingPixels = numTotalPixels - startPixelIndex;
int numBytesPerPixel = 4;//RGBA
int numRequestedPixels = btMin(rgbaBufferSizeInPixels,numRemainingPixels);
@@ -357,22 +353,58 @@ void OpenGLGuiHelper::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBuf
{
if (startPixelIndex==0)
{
//quick test: render the scene
CommonCameraInterface* oldCam = getRenderInterface()->getActiveCamera();
SimpleCamera tempCam;
getRenderInterface()->setActiveCamera(&tempCam);
getRenderInterface()->getActiveCamera()->setVRCamera(viewMatrix,projectionMatrix);
getRenderInterface()->renderScene();
//copy the image into our local cache
m_data->m_rgbaPixelBuffer.resize(w*h*numBytesPerPixel);
m_data->m_depthBuffer.resize(w*h);
m_data->m_glApp->getScreenPixels(&(m_data->m_rgbaPixelBuffer[0]),m_data->m_rgbaPixelBuffer.size());
}
for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
{
if (pixelsRGBA)
{
pixelsRGBA[i] = m_data->m_rgbaPixelBuffer[i+startPixelIndex*numBytesPerPixel];
getRenderInterface()->setActiveCamera(oldCam);
{
btAlignedObjectArray<unsigned char> sourceRgbaPixelBuffer;
btAlignedObjectArray<float> sourceDepthBuffer;
//copy the image into our local cache
sourceRgbaPixelBuffer.resize(sourceWidth*sourceHeight*numBytesPerPixel);
sourceDepthBuffer.resize(sourceWidth*sourceHeight);
m_data->m_glApp->getScreenPixels(&(sourceRgbaPixelBuffer[0]),sourceRgbaPixelBuffer.size(), &sourceDepthBuffer[0],sizeof(float)*sourceDepthBuffer.size());
m_data->m_rgbaPixelBuffer1.resize(destinationWidth*destinationHeight*numBytesPerPixel);
m_data->m_depthBuffer1.resize(destinationWidth*destinationHeight);
//rescale and flip
for (int i=0;i<destinationWidth;i++)
{
for (int j=0;j<destinationHeight;j++)
{
int xIndex = int(float(i)*(float(sourceWidth)/float(destinationWidth)));
int yIndex = int(float(destinationHeight-1-j)*(float(sourceHeight)/float(destinationHeight)));
btClamp(xIndex,0,sourceWidth);
btClamp(yIndex,0,sourceHeight);
int bytesPerPixel = 4; //RGBA
int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
}
}
}
}
if (pixelsRGBA)
{
for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
{
pixelsRGBA[i] = m_data->m_rgbaPixelBuffer1[i+startPixelIndex*numBytesPerPixel];
}
}
if (depthBuffer)
{
for (int i=0;i<numRequestedPixels;i++)
{
depthBuffer[i] = m_data->m_depthBuffer1[i];
}
}
if (numPixelsCopied)
*numPixelsCopied = numRequestedPixels;

2
examples/ExampleBrowser/OpenGLGuiHelper.h
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@@ -44,7 +44,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied);
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied);
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;

4
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -200,7 +200,7 @@ void ImportUrdfSetup::initPhysics()
btVector3 gravity(0,0,0);
//gravity[upAxis]=-9.8;
gravity[upAxis]=-9.8;
m_dynamicsWorld->setGravity(gravity);
@@ -342,7 +342,7 @@ void ImportUrdfSetup::initPhysics()
bool createGround=false;
bool createGround=true;
if (createGround)
{
btVector3 groundHalfExtents(20,20,20);

29
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -146,8 +146,9 @@ struct InternalTextureHandle
struct InternalDataRenderer : public GLInstanceRendererInternalData
{
SimpleCamera m_defaultCamera;
SimpleCamera m_defaultCamera1;
CommonCameraInterface* m_activeCamera;
GLfloat m_projectionMatrix[16];
GLfloat m_viewMatrix[16];
@@ -164,7 +165,8 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
InternalDataRenderer() :
m_shadowMap(0),
m_shadowTexture(0),
m_renderFrameBuffer(0)
m_renderFrameBuffer(0),
m_activeCamera(&m_defaultCamera1)
{
//clear to zero to make it obvious if the matrix is used uninitialized
for (int i=0;i<16;i++)
@@ -919,18 +921,18 @@ void GLInstancingRenderer::resize(int width, int height)
const CommonCameraInterface* GLInstancingRenderer::getActiveCamera() const
{
return &m_data->m_defaultCamera;
return m_data->m_activeCamera;
}
CommonCameraInterface* GLInstancingRenderer::getActiveCamera()
{
return &m_data->m_defaultCamera;
return m_data->m_activeCamera;
}
void GLInstancingRenderer::setActiveCamera(CommonCameraInterface* cam)
{
b3Assert(0);//not supported yet
m_data->m_activeCamera = cam;
}
@@ -951,14 +953,10 @@ void GLInstancingRenderer::updateCamera(int upAxis)
b3Assert(0);
};
m_data->m_defaultCamera.setCameraUpAxis(upAxis);
m_data->m_defaultCamera.setAspectRatio((float)m_screenWidth/(float)m_screenHeight);
m_data->m_defaultCamera.update();
m_data->m_activeCamera->setCameraUpAxis(upAxis);
m_data->m_activeCamera->setAspectRatio((float)m_screenWidth/(float)m_screenHeight);
m_data->m_defaultCamera1.update();
m_data->m_defaultCamera.getCameraProjectionMatrix(m_data->m_projectionMatrix);
m_data->m_defaultCamera.getCameraViewMatrix(m_data->m_viewMatrix);
}
@@ -1489,7 +1487,7 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
float depthViewMatrix[4][4];
b3Vector3 center = b3MakeVector3(0,0,0);
float upf[3];
m_data->m_defaultCamera.getCameraUpVector(upf);
m_data->m_activeCamera->getCameraUpVector(upf);
b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]);
b3CreateLookAt(gLightPos,center,up,&depthViewMatrix[0][0]);
//b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2);
@@ -1526,6 +1524,9 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
{
B3_PROFILE("updateCamera");
// updateCamera();
m_data->m_activeCamera->getCameraProjectionMatrix(m_data->m_projectionMatrix);
m_data->m_activeCamera->getCameraViewMatrix(m_data->m_viewMatrix);
}
b3Assert(glGetError() ==GL_NO_ERROR);

8
examples/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@@ -657,7 +657,7 @@ SimpleOpenGL3App::~SimpleOpenGL3App()
delete m_data ;
}
void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes)
void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes)
{
int width = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth();
@@ -668,6 +668,12 @@ void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSize
int glstat = glGetError();
b3Assert(glstat==GL_NO_ERROR);
}
if ((width*height*sizeof(float)) == depthBufferSizeInBytes)
{
glReadPixels(0,0,width, height, GL_DEPTH_COMPONENT, GL_FLOAT, depthBuffer);
int glstat = glGetError();
b3Assert(glstat==GL_NO_ERROR);
}
}

2
examples/OpenGLWindow/SimpleOpenGL3App.h
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@@ -24,7 +24,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
virtual void registerGrid(int xres, int yres, float color0[4], float color1[4]);
void dumpNextFrameToPng(const char* pngFilename);
void dumpFramesToVideo(const char* mp4Filename);
void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes);
void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes);
void drawGrid(DrawGridData data=DrawGridData());
virtual void setUpAxis(int axis);

6
examples/RoboticsLearning/b3RobotSimAPI.cpp
View File

@@ -345,12 +345,8 @@ public:
{
}
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
{
if (width)
*width = 0;
if (height)
*height = 0;
if (numPixelsCopied)
*numPixelsCopied = 0;
}

8
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -792,6 +792,14 @@ b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physC
return (b3SharedMemoryCommandHandle) command;
}
void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
b3Assert(renderer>(1<<15));
command->m_updateFlags |= renderer;
}
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[16], float projectionMatrix[16])
{

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -73,6 +73,7 @@ void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command,
void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]);
void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal);
void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer);
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);

18
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -170,8 +170,9 @@ protected:
// b3Printf("# motors = %d, cmd[%d] qIndex = %d, uIndex = %d, targetPos = %f", m_numMotors, serial, qIndex,uIndex,targetPos);
b3JointControlSetDesiredPosition(commandHandle, qIndex, targetPos);
b3JointControlSetKp(commandHandle, qIndex, 0.1);
b3JointControlSetKd(commandHandle, uIndex, 0);
b3JointControlSetDesiredVelocity(commandHandle,uIndex,0);
b3JointControlSetKp(commandHandle, qIndex, 0.01);
b3JointControlSetKd(commandHandle, uIndex, 0.1);
b3JointControlSetMaximumForce(commandHandle,uIndex,1000);
}
@@ -236,7 +237,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf");
//setting the initial position, orientation and other arguments are optional
double startPosX = 0;
static double startPosY = 0;
static double startPosY = 1;
double startPosZ = 0;
b3LoadUrdfCommandSetStartPosition(commandHandle, startPosX,startPosY,startPosZ);
startPosY += 2.f;
@@ -256,11 +257,13 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
//b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
float viewMatrix[16];
float projectionMatrix[16];
this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
@@ -483,9 +486,9 @@ void PhysicsClientExample::createButtons()
}
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
createButton("Create Cylinder Body",CMD_CREATE_RIGID_BODY,isTrigger);
createButton("Create Cylinder Body",CMD_CREATE_RIGID_BODY,isTrigger);
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
createButton("Initialize Pose",CMD_INIT_POSE, isTrigger);
createButton("Initialize Pose",CMD_INIT_POSE, isTrigger);
createButton("Set gravity", CMD_SEND_PHYSICS_SIMULATION_PARAMETERS, isTrigger);
if (m_bodyUniqueIds.size())
@@ -681,7 +684,6 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
int pixelIndex = (xIndex+yIndex*imageData.m_pixelWidth)*bytesPerPixel;
m_canvas->setPixel(m_canvasIndex,i,j,
imageData.m_rgbColorData[pixelIndex],
imageData.m_rgbColorData[pixelIndex+1],
imageData.m_rgbColorData[pixelIndex+2],

25
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -1123,23 +1123,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
int startPixelIndex = clientCmd.m_requestPixelDataArguments.m_startPixelIndex;
int width, height;
int width = clientCmd.m_requestPixelDataArguments.m_pixelWidth;
int height = clientCmd.m_requestPixelDataArguments.m_pixelHeight;
int numPixelsCopied = 0;
if (
(clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) &&
(clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0)
{
m_data->m_visualConverter.setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
clientCmd.m_requestPixelDataArguments.m_pixelHeight);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL)!=0)
if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
{
m_data->m_guiHelper->copyCameraImageData(0,0,0,0,0,&width,&height,0);
//m_data->m_guiHelper->copyCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,clientCmd.m_requestPixelDataArguments.m_projectionMatrix,0,0,0,0,0,width,height,0);
}
else
{
if ((clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) &&
(clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0)
{
m_data->m_visualConverter.setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
clientCmd.m_requestPixelDataArguments.m_pixelHeight);
}
m_data->m_visualConverter.getWidthAndHeight(width,height);
}
@@ -1157,9 +1158,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
float* depthBuffer = (float*)(bufferServerToClient+numRequestedPixels*4);
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL)!=0)
if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
{
m_data->m_guiHelper->copyCameraImageData(pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,&width,&height,&numPixelsCopied);
m_data->m_guiHelper->copyCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,width,height,&numPixelsCopied);
} else
{

6
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -346,12 +346,8 @@ public:
{
}
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int width, int height, int* numPixelsCopied)
{
if (width)
*width = 0;
if (height)
*height = 0;
if (numPixelsCopied)
*numPixelsCopied = 0;
}

2
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -138,8 +138,8 @@ struct RequestPixelDataArgs
enum EnumRequestPixelDataUpdateFlags
{
REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1,
REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL=2,
REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=4,
//don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h
};

8
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -151,4 +151,12 @@ enum EnumExternalForceFlags
EF_WORLD_FRAME=2,
};
///flags to pick the renderer for synthetic camera
enum EnumRenderer
{
ER_TINY_RENDERER=(1<<16),
ER_BULLET_HARDWARE_OPENGL=(1<<17),
//ER_FIRE_RAYS=(1<<18),
};
#endif//SHARED_MEMORY_PUBLIC_H

6
examples/StandaloneMain/main_tinyrenderer_single_example.cpp
View File

@@ -348,12 +348,8 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
}
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int width, int height, int* numPixelsCopied)
{
if (width)
*width = 0;
if (height)
*height = 0;
if (numPixelsCopied)
*numPixelsCopied = 0;
}