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Add API to change texture with object id and link index.

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This commit is contained in:
yunfeibai
2016-10-21 11:55:27 -07:00
parent 4911b14271
commit 3d79961725
6 changed files with 63 additions and 11 deletions
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4
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1272,7 +1272,7 @@ b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient,
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int textureUniqueId)
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
@@ -1281,6 +1281,8 @@ b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physCl
b3Assert(command);
command->m_type = CMD_UPDATE_VISUAL_SHAPE;
command->m_updateVisualShapeDataArguments.m_bodyUniqueId = bodyUniqueId;
command->m_updateVisualShapeDataArguments.m_jointIndex = jointIndex;
command->m_updateVisualShapeDataArguments.m_shapeIndex = shapeIndex;
command->m_updateVisualShapeDataArguments.m_textureUniqueId = textureUniqueId;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -100,7 +100,7 @@ b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientH
void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo);
b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int textureUniqueId);
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);

32
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -25,6 +25,9 @@ struct MyMotorInfo2
int camVisualizerWidth = 320;//1024/3;
int camVisualizerHeight = 240;//768/3;
int loadTextureCount = 0;
int setTextureCount = 0;
enum CustomCommands
{
CMD_CUSTOM_SET_REALTIME_SIMULATION = CMD_MAX_CLIENT_COMMANDS+1,
@@ -242,7 +245,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
{
case CMD_LOAD_URDF:
{
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model_white.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;
@@ -260,9 +263,9 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");//kuka_iiwa/model.sdf");
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
*/
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "sphere_big.urdf");
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "table/table.urdf");
//setting the initial position, orientation and other arguments are optional
b3LoadUrdfCommandSetStartPosition(commandHandle,0.5,0.5,0.5);
b3LoadUrdfCommandSetStartPosition(commandHandle,2.0,2.0,0.5);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
@@ -489,15 +492,36 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
}
case CMD_UPDATE_VISUAL_SHAPE:
{
b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,8,0);
if (setTextureCount == 0)
{
b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,1,0,0,0);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
else if (setTextureCount == 1)
{
b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,1,0,0,1);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
setTextureCount++;
if (setTextureCount >=2)
setTextureCount = 0;
break;
}
case CMD_LOAD_TEXTURE:
{
if (loadTextureCount == 0)
{
const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/cube.png";
b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
else if (loadTextureCount ==1)
{
const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif";
b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
loadTextureCount++;
break;
}
default:

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3006,7 +3006,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED;
hasStatus = true;

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -160,6 +160,8 @@ struct RequestVisualShapeDataArgs
struct UpdateVisualShapeDataArgs
{
int m_bodyUniqueId;
int m_jointIndex;
int m_shapeIndex;
int m_textureUniqueId;
};

24
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -832,6 +832,7 @@ void TinyRendererVisualShapeConverter::resetAll()
void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId)
{
btAssert(textureUniqueId < m_data->m_textures.size());
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId);
if (ptrptr && *ptrptr)
{
@@ -840,6 +841,29 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, i
}
}
void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
{
int start = -1;
//find first one, then count how many
for (int i = 0; i < m_data->m_visualShapes.size(); i++)
{
printf("object id: %d\n", m_data->m_visualShapes[i].m_objectUniqueId);
if (m_data->m_visualShapes[i].m_objectUniqueId == objectUniqueId && m_data->m_visualShapes[i].m_linkIndex == jointIndex)
{
start = i;
break;
}
}
if (start >= 0)
{
if (start + shapeIndex < m_data->m_visualShapes.size())
{
activateShapeTexture(start + shapeIndex, textureUniqueId);
}
}
}
int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height)
{
MyTexture2 texData;