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add segmentation mask rendering to TinyRenderer and shared memory API

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similar to the zbuffer, but storing the object index (int) instead of float depth
This commit is contained in:
Erwin Coumans
2016-08-11 14:55:30 -07:00
parent f416644481
commit 3c30e2f821
23 changed files with 276 additions and 55 deletions
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17
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -45,6 +45,7 @@ struct BulletURDFInternalData
UrdfParser m_urdfParser;
struct GUIHelperInterface* m_guiHelper;
char m_pathPrefix[1024];
int m_bodyId;
btHashMap<btHashInt,btVector4> m_linkColors;
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
@@ -208,6 +209,18 @@ const char* BulletURDFImporter::getPathPrefix()
return m_data->m_pathPrefix;
}
void BulletURDFImporter::setBodyUniqueId(int bodyId)
{
m_data->m_bodyId =bodyId;
}
int BulletURDFImporter::getBodyUniqueId() const
{
return m_data->m_bodyId;
}
BulletURDFImporter::~BulletURDFImporter()
{
@@ -1017,13 +1030,13 @@ bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo&
return false;
}
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj) const
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int objectIndex) const
{
if (m_data->m_customVisualShapesConverter)
{
const UrdfModel& model = m_data->m_urdfParser.getModel();
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, model, colObj);
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, model, colObj, objectIndex);
}
}

5
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -25,7 +25,8 @@ public:
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);
virtual int getNumModels() const;
virtual void activateModel(int modelIndex);
virtual void setBodyUniqueId(int bodyId);
virtual int getBodyUniqueId() const;
const char* getPathPrefix();
void printTree(); //for debugging
@@ -50,7 +51,7 @@ public:
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj) const;
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const;
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation

2
examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
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@@ -3,7 +3,7 @@
struct LinkVisualShapesConverter
{
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const class btTransform& localInertiaFrame, const struct UrdfModel& model, class btCollisionObject* colObj)=0;
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const class btTransform& localInertiaFrame, const struct UrdfModel& model, class btCollisionObject* colObj, int objectIndex)=0;
};
#endif //LINK_VISUAL_SHAPES_CONVERTER_H

2
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -397,7 +397,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
u2b.getLinkColor(urdfLinkIndex,color);
creation.createCollisionObjectGraphicsInstance(urdfLinkIndex,col,color);
u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,col);
u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,col, u2b.getBodyUniqueId());
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);

6
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -48,8 +48,10 @@ public:
///quick hack: need to rethink the API/dependencies of this
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const { return -1;}
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj) const { }
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const { }
virtual void setBodyUniqueId(int bodyId) {}
virtual int getBodyUniqueId() const { return 0;}
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
};