Add shared memory API for setting shadow and light source distance.

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -1256,6 +1256,24 @@ void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle
     command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR;
 }
 
+void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance)
+{
+    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
+    command->m_requestPixelDataArguments.m_lightDistance = lightDistance;
+    command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE;
+}
+
+void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, bool hasShadow)
+{
+    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
+    command->m_requestPixelDataArguments.m_hasShadow = hasShadow;
+    command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SHADOW;
+}
+
 void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16])
 {
 	b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);

examples/SharedMemory/PhysicsClientC_API.h

@@ -98,6 +98,8 @@ void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command,
 void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
 void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]);
 void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]);
+void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance);
+void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, bool hasShadow);
 void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer);
 void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
 

examples/SharedMemory/PhysicsClientExample.cpp

@@ -89,10 +89,10 @@ protected:
     
 	virtual void resetCamera()
 	{
-		float dist = 1.233281;
+        float dist = 4;
-		float pitch = 193;
+        float pitch = 193;
-		float yaw = 25;
+        float yaw = 25;
-		float targetPos[3]={0.103042,-0.469102,0.631005};//-3,2.8,-2.5};
+        float targetPos[3]={0,0,0.5};//-3,2.8,-2.5};
 		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
 
 	}
@@ -242,7 +242,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
     {
         case  CMD_LOAD_URDF:
         {
-            b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "torus/torus_with_separate_plane.urdf");
+            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;
@@ -481,6 +481,22 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
 			}
 			break;
 		}
+        case CMD_SET_SHADOW:
+        {
+            b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
+            float viewMatrix[16];
+            float projectionMatrix[16];
+            m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
+            m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
+            
+            b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
+            b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
+            bool hasShadow = true;
+            b3RequestCameraImageSetShadow(commandHandle, hasShadow);
+            b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+            break;
+        }
+
         default:
         {
             b3Error("Unknown buttonId");
@@ -556,6 +572,7 @@ 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("Set Shadow",CMD_SET_SHADOW, isTrigger);
         createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
         createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
 		createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION,  isTrigger);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -1425,6 +1425,16 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                 {
                                     m_data->m_visualConverter.setLightColor(clientCmd.m_requestPixelDataArguments.m_lightColor[0], clientCmd.m_requestPixelDataArguments.m_lightColor[1], clientCmd.m_requestPixelDataArguments.m_lightColor[2]);
                                 }
+                                
+                                if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE) != 0)
+                                {
+                                    m_data->m_visualConverter.setLightDistance(clientCmd.m_requestPixelDataArguments.m_lightDistance);
+                                }
+                                
+                                if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SHADOW) != 0)
+                                {
+                                    m_data->m_visualConverter.setShadow(clientCmd.m_requestPixelDataArguments.m_hasShadow);
+                                }
 
                                 if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
                                 {

examples/SharedMemory/SharedMemoryCommands.h

@@ -140,6 +140,8 @@ struct RequestPixelDataArgs
 	int m_pixelHeight;
 	float m_lightDirection[3];
     float m_lightColor[3];
+    float m_lightDistance;
+    bool m_hasShadow;
 };
 
 enum EnumRequestPixelDataUpdateFlags
@@ -148,6 +150,8 @@ enum EnumRequestPixelDataUpdateFlags
 	REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=2,
 	REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=4,
     REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR=8,
+    REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE=16,
+    REQUEST_PIXEL_ARGS_SET_SHADOW=32,
 	//don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h
 	
 };

examples/SharedMemory/SharedMemoryPublic.h

@@ -40,6 +40,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_REQUEST_VISUAL_SHAPE_INFO,
     CMD_UPDATE_VISUAL_SHAPE,
     CMD_LOAD_TEXTURE,
+    CMD_SET_SHADOW,
 	CMD_USER_DEBUG_DRAW,
 
     //don't go beyond this command!

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -90,7 +90,7 @@ struct TinyRendererVisualShapeConverterInternalData
 	m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB),
 	m_hasLightDirection(false),
     m_hasLightColor(false),
-    m_hasShadow(true)
+    m_hasShadow(false)
 	{
 	    m_depthBuffer.resize(m_swWidth*m_swHeight);
         m_shadowBuffer.resize(m_swWidth*m_swHeight);