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

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This commit is contained in:
yunfeibai
2016-11-29 13:19:35 -08:00
parent 8aa90a7427
commit 1fbd78ece5
7 changed files with 58 additions and 6 deletions
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18
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -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]);

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -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);

23
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -89,10 +89,10 @@ protected:
virtual void resetCamera()
{
float dist = 1.233281;
float dist = 4;
float pitch = 193;
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);

10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1426,6 +1426,16 @@ 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)
{
m_data->m_visualConverter.render(

4
examples/SharedMemory/SharedMemoryCommands.h
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@@ -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
};

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -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!

2
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -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);