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make projective textures work in DIRECT+eglPlugin (see examples/pybullet/examples/projective_texture.py)

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This commit is contained in:
erwincoumans
2018-10-05 19:24:44 -07:00
parent 111ffc784d
commit 2c13e70d1a
4 changed files with 44 additions and 0 deletions
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3
examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
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@@ -91,6 +91,9 @@ struct UrdfRenderingInterface
///register a texture using an in-memory pixel buffer of a given width and height
virtual int registerTexture(unsigned char* texels, int width, int height) = 0;
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]) {}
virtual void setProjectiveTexture(bool useProjectiveTexture) {}
};
#endif //LINK_VISUAL_SHAPES_CONVERTER_H

28
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3645,10 +3645,38 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
if (m_data->m_pluginManager.getRenderInterface())
{
if ((flags & ER_USE_PROJECTIVE_TEXTURE) != 0)
{
m_data->m_pluginManager.getRenderInterface()->setProjectiveTexture(true);
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES) != 0)
{
for (int i = 0; i < 16; i++)
{
projTextureViewMat[i] = clientCmd.m_requestPixelDataArguments.m_projectiveTextureViewMatrix[i];
projTextureProjMat[i] = clientCmd.m_requestPixelDataArguments.m_projectiveTextureProjectionMatrix[i];
}
}
else // If no specified matrices for projective texture, then use the camera matrices.
{
for (int i = 0; i < 16; i++)
{
projTextureViewMat[i] = viewMat[i];
projTextureProjMat[i] = projMat[i];
}
}
m_data->m_pluginManager.getRenderInterface()->setProjectiveTextureMatrices(projTextureViewMat, projTextureProjMat);
}
else
{
m_data->m_pluginManager.getRenderInterface()->setProjectiveTexture(false);
}
m_data->m_pluginManager.getRenderInterface()->copyCameraImageData(pixelRGBA, numRequestedPixels,
depthBuffer, numRequestedPixels,
segmentationMaskBuffer, numRequestedPixels,
startPixelIndex, &width, &height, &numPixelsCopied);
m_data->m_pluginManager.getRenderInterface()->setProjectiveTexture(false);
}
m_data->m_guiHelper->debugDisplayCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,

10
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
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@@ -984,6 +984,16 @@ void EGLRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
m_data->m_rgbColorBuffer = TGAImage(width, height, TGAImage::RGB);
}
void EGLRendererVisualShapeConverter::setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
{
m_data->m_instancingRenderer->setProjectiveTextureMatrices(viewMatrix,projectionMatrix);
}
void EGLRendererVisualShapeConverter::setProjectiveTexture(bool useProjectiveTexture)
{
m_data->m_instancingRenderer->setProjectiveTexture(useProjectiveTexture);
}
//copied from OpenGLGuiHelper.cpp
void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,

3
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
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@@ -51,6 +51,9 @@ struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
virtual int loadTextureFile(const char* filename);
virtual int registerTexture(unsigned char* texels, int width, int height);
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
virtual void setProjectiveTexture(bool useProjectiveTexture);
virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
};