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Merge branch 'master' into 3D-NN-walkers-example

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This commit is contained in:
Benelot
2016-12-27 21:09:49 +01:00
parent 3a424079f3 1deb3c1666
commit 3add00631f
270 changed files with 44434 additions and 2949 deletions
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55
examples/RenderingExamples/TinyRendererSetup.cpp
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@@ -23,6 +23,7 @@ struct TinyRendererSetupInternalData
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<float> m_depthBuffer;
b3AlignedObjectArray<float> m_shadowBuffer;
b3AlignedObjectArray<int> m_segmentationMaskBuffer;
@@ -53,6 +54,7 @@ struct TinyRendererSetupInternalData
m_animateRenderer(0)
{
m_depthBuffer.resize(m_width*m_height);
m_shadowBuffer.resize(m_width*m_height);
// m_segmentationMaskBuffer.resize(m_width*m_height);
}
@@ -152,7 +154,7 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
const char* fileName = "textured_sphere_smooth.obj";
fileName = "cube.obj";
fileName = "torus/torus_with_plane.obj";
{
@@ -188,6 +190,7 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
TinyRenderObjectData* ob = new TinyRenderObjectData(
m_internalData->m_rgbColorBuffer,
m_internalData->m_depthBuffer,
&m_internalData->m_shadowBuffer,
&m_internalData->m_segmentationMaskBuffer,
m_internalData->m_renderObjects.size());
@@ -328,6 +331,7 @@ void TinyRendererSetup::stepSimulation(float deltaTime)
{
m_internalData->m_rgbColorBuffer.set(x,y,clearColor);
m_internalData->m_depthBuffer[x+y*m_internalData->m_width] = -1e30f;
m_internalData->m_shadowBuffer[x+y*m_internalData->m_width] = -1e30f;
}
}
@@ -339,7 +343,46 @@ void TinyRendererSetup::stepSimulation(float deltaTime)
render->getActiveCamera()->getCameraViewMatrix(viewMat);
render->getActiveCamera()->getCameraProjectionMatrix(projMat);
for (int o=0;o<this->m_internalData->m_renderObjects.size();o++)
{
const btTransform& tr = m_internalData->m_transforms[o];
tr.getOpenGLMatrix(modelMat2);
for (int i=0;i<4;i++)
{
for (int j=0;j<4;j++)
{
m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i+4*j]);
m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j];
m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i+4*j];
btVector3 lightDirWorld;
switch (m_app->getUpAxis())
{
case 1:
lightDirWorld = btVector3(-50.f,100,30);
break;
case 2:
lightDirWorld = btVector3(-50.f,30,100);
break;
default:{}
};
m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized();
btVector3 lightColor(1.0,1.0,1.0);
m_internalData->m_renderObjects[o]->m_lightColor = lightColor;
m_internalData->m_renderObjects[o]->m_lightDistance = 10.0;
m_internalData->m_renderObjects[o]->m_lightAmbientCoeff = 0.6;
m_internalData->m_renderObjects[o]->m_lightDiffuseCoeff = 0.35;
m_internalData->m_renderObjects[o]->m_lightSpecularCoeff = 0.05;
}
}
TinyRenderer::renderObjectDepth(*m_internalData->m_renderObjects[o]);
}
for (int o=0;o<this->m_internalData->m_renderObjects.size();o++)
{
@@ -369,6 +412,14 @@ void TinyRendererSetup::stepSimulation(float deltaTime)
};
m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized();
btVector3 lightColor(1.0,1.0,1.0);
m_internalData->m_renderObjects[o]->m_lightColor = lightColor;
m_internalData->m_renderObjects[o]->m_lightDistance = 10.0;
m_internalData->m_renderObjects[o]->m_lightAmbientCoeff = 0.6;
m_internalData->m_renderObjects[o]->m_lightDiffuseCoeff = 0.35;
m_internalData->m_renderObjects[o]->m_lightSpecularCoeff = 0.05;
}
}