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preparation to receive camera image data from physics server

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increase shadowmap world size default to 50 units (meter), 10 units (meter) was too small for most examples.
This commit is contained in:
erwin coumans
2016-05-31 10:23:04 -07:00
parent de9bd65c19
commit 14aa666c6f
21 changed files with 301 additions and 22 deletions
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69
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -2,7 +2,7 @@
#include "PhysicsClientExample.h"
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
#include "SharedMemoryCommon.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "PhysicsClientC_API.h"
@@ -21,6 +21,9 @@ struct MyMotorInfo2
int m_qIndex;
};
int camVisualizerWidth = 1024/3;
int camVisualizerHeight = 768/3;
#define MAX_NUM_MOTORS 128
@@ -37,6 +40,9 @@ protected:
int m_sharedMemoryKey;
int m_selectedBody;
int m_prevSelectedBody;
struct Common2dCanvasInterface* m_canvas;
int m_canvasIndex;
void createButton(const char* name, int id, bool isTrigger );
void createButtons();
@@ -401,7 +407,8 @@ m_selectedBody(-1),
m_prevSelectedBody(-1),
m_numMotors(0),
m_options(options),
m_isOptionalServerConnected(false)
m_isOptionalServerConnected(false),
m_canvas(0)
{
b3Printf("Started PhysicsClientExample\n");
}
@@ -518,6 +525,34 @@ void PhysicsClientExample::initPhysics()
if (m_options == eCLIENTEXAMPLE_SERVER)
{
m_canvas = m_guiHelper->get2dCanvasInterface();
if (m_canvas)
{
m_canvasIndex = m_canvas->createCanvas("Synthetic Camera",camVisualizerWidth, camVisualizerHeight);
for (int i=0;i<camVisualizerWidth;i++)
{
for (int j=0;j<camVisualizerHeight;j++)
{
unsigned char red=255;
unsigned char green=255;
unsigned char blue=255;
unsigned char alpha=255;
if (i==j)
{
red = 0;
green=0;
blue=0;
}
m_canvas->setPixel(m_canvasIndex,i,j,red,green,blue,alpha);
}
}
m_canvas->refreshImageData(m_canvasIndex);
}
m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
}
@@ -564,7 +599,35 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
}
if (statusType ==CMD_CAMERA_IMAGE_COMPLETED)
{
b3Printf("Camera image OK\n");
static int counter=0;
char msg[1024];
sprintf(msg,"Camera image %d OK\n",counter++);
b3CameraImageData imageData;
b3GetCameraImageData(m_physicsClientHandle,&imageData);
if (m_canvas && m_canvasIndex >=0)
{
for (int i=0;i<imageData.m_pixelWidth;i++)
{
for (int j=0;j<imageData.m_pixelHeight;j++)
{
int xIndex = int(float(i)*(float(camVisualizerWidth)/float(imageData.m_pixelWidth)));
int yIndex = int(float(j)*(float(camVisualizerHeight)/float(imageData.m_pixelHeight)));
btClamp(yIndex,0,imageData.m_pixelHeight);
btClamp(xIndex,0,imageData.m_pixelWidth);
int bytesPerPixel = 4;
int pixelIndex = (i+j*imageData.m_pixelWidth)*bytesPerPixel;
m_canvas->setPixel(m_canvasIndex,xIndex,camVisualizerHeight-1-yIndex,
imageData.m_rgbColorData[pixelIndex],
imageData.m_rgbColorData[pixelIndex+1],
imageData.m_rgbColorData[pixelIndex+2],
imageData.m_rgbColorData[pixelIndex+3]);
}
}
m_canvas->refreshImageData(m_canvasIndex);
}
b3Printf(msg);
}
if (statusType == CMD_CAMERA_IMAGE_FAILED)
{