Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

apply clang-format (on Mac, slightly different than running it on Windows)

Browse Source
This commit is contained in:
Erwin Coumans
2018-09-30 11:43:57 -07:00
parent 5bcd43711a
commit 42ae4e81a8
15 changed files with 87 additions and 117 deletions
Download Patch File Download Diff File Expand all files Collapse all files

49
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -1726,7 +1726,6 @@ struct PhysicsServerCommandProcessorInternalData
}
#endif //ENABLE_STATIC_GRPC_PLUGIN
#ifdef STATIC_EGLRENDERER_PLUGIN
{
bool initPlugin = false;
@@ -1735,15 +1734,12 @@ struct PhysicsServerCommandProcessorInternalData
}
#endif //STATIC_EGLRENDERER_PLUGIN
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
{
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin, 0, 0, getRenderInterface_tinyRendererPlugin, 0, 0);
m_pluginManager.selectPluginRenderer(renderPluginId);
}
#endif
}
m_vrControllerEvents.init();
@@ -2743,30 +2739,27 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
if (mb)
mb->setUserIndex2(bodyUniqueId);
if (mb)
{
bodyHandle->m_multiBody = mb;
m_data->m_sdfRecentLoadedBodies.push_back(bodyUniqueId);
int segmentationMask = bodyUniqueId;
{
int graphicsIndex = -1;
if (mb->getBaseCollider())
{
graphicsIndex = mb->getBaseCollider()->getUserIndex();
}
if (graphicsIndex>=0)
if (graphicsIndex >= 0)
{
if (m_data->m_graphicsIndexToSegmentationMask.size()<(graphicsIndex+1))
if (m_data->m_graphicsIndexToSegmentationMask.size() < (graphicsIndex + 1))
{
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex+1);
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex + 1);
}
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex]= segmentationMask;
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex] = segmentationMask;
}
}
@@ -2811,20 +2804,20 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
int graphicsIndex = -1;
if (mb->getLinkCollider(i))
{
graphicsIndex = mb->getLinkCollider(i)->getUserIndex();
graphicsIndex = mb->getLinkCollider(i)->getUserIndex();
}
if (graphicsIndex>=0)
if (graphicsIndex >= 0)
{
int linkIndex = i;
if (m_data->m_graphicsIndexToSegmentationMask.size()<(graphicsIndex+1))
if (m_data->m_graphicsIndexToSegmentationMask.size() < (graphicsIndex + 1))
{
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex+1);
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex + 1);
}
int segmentationMask = bodyUniqueId + ((linkIndex + 1) << 24);
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex]= segmentationMask;
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex] = segmentationMask;
}
}
std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex).c_str());
m_data->m_strings.push_back(jointName);
@@ -2860,13 +2853,13 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
{
graphicsIndex = rb->getUserIndex();
}
if (graphicsIndex>=0)
if (graphicsIndex >= 0)
{
if (m_data->m_graphicsIndexToSegmentationMask.size()<(graphicsIndex+1))
if (m_data->m_graphicsIndexToSegmentationMask.size() < (graphicsIndex + 1))
{
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex+1);
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex + 1);
}
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex]= segmentationMask;
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex] = segmentationMask;
}
}
@@ -3524,9 +3517,9 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
this->m_data->m_guiHelper->setProjectiveTexture(false);
}
if ((flags & (ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX + ER_SEGMENTATION_MASK))==0)
if ((flags & (ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX + ER_SEGMENTATION_MASK)) == 0)
{
segmentationMaskBuffer=0;
segmentationMaskBuffer = 0;
}
m_data->m_guiHelper->copyCameraImageData(viewMat,
projMat, pixelRGBA, numRequestedPixels,
@@ -3540,11 +3533,11 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
if (segmentationMaskBuffer)
{
for (int i=0;i<numPixelsCopied;i++)
for (int i = 0; i < numPixelsCopied; i++)
{
int graphicsSegMask = segmentationMaskBuffer[i];
int segMask = -1;
if ((graphicsSegMask >= 0) && (graphicsSegMask<m_data->m_graphicsIndexToSegmentationMask.size()))
if ((graphicsSegMask >= 0) && (graphicsSegMask < m_data->m_graphicsIndexToSegmentationMask.size()))
{
segMask = m_data->m_graphicsIndexToSegmentationMask[graphicsSegMask];
}
@@ -3557,10 +3550,8 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
}
segmentationMaskBuffer[i] = segMask;
}
}
handled = true;
m_data->m_guiHelper->debugDisplayCameraImageData(viewMat,
projMat, pixelRGBA, numRequestedPixels,
@@ -5767,7 +5758,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
}
}
} //fi
//break;
//break;
}
}
} //if (body && body->m_rigidBody)

2
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -746,7 +746,7 @@ enum EnumRendererAuxFlags
{
ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX = 1,
ER_USE_PROJECTIVE_TEXTURE = 2,
ER_SEGMENTATION_MASK=4,
ER_SEGMENTATION_MASK = 4,
};
///flags to pick the IK solver and other options

49
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
View File

@@ -100,7 +100,6 @@ struct EGLRendererVisualShapeConverterInternalData
btAlignedObjectArray<unsigned char> m_segmentationMaskSourceRgbaPixelBuffer;
btAlignedObjectArray<float> m_segmentationMaskSourceDepthBuffer;
btAlignedObjectArray<int> m_graphicsIndexToSegmentationMask;
btHashMap<btHashInt, EGLRendererObjectArray*> m_swRenderInstances;
@@ -795,18 +794,16 @@ void EGLRendererVisualShapeConverter::convertVisualShapes(
int segmentationMask = bodyUniqueId + ((linkIndex + 1) << 24);
{
int graphicsIndex = visuals->m_graphicsInstanceId;
if (graphicsIndex>=0)
if (graphicsIndex >= 0)
{
if (m_data->m_graphicsIndexToSegmentationMask.size()<(graphicsIndex+1))
if (m_data->m_graphicsIndexToSegmentationMask.size() < (graphicsIndex + 1))
{
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex+1);
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex + 1);
}
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex]= segmentationMask;
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex] = segmentationMask;
}
}
m_data->m_instancingRenderer->writeTransforms();
}
}
@@ -998,21 +995,18 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
int destinationWidth = *widthPtr;
int destinationHeight = *heightPtr;
int sourceWidth = btMin(destinationWidth, (int)( m_data->m_window->getWidth() * m_data->m_window->getRetinaScale()));
int sourceWidth = btMin(destinationWidth, (int)(m_data->m_window->getWidth() * m_data->m_window->getRetinaScale()));
int sourceHeight = btMin(destinationHeight, (int)(m_data->m_window->getHeight() * m_data->m_window->getRetinaScale()));
int numTotalPixels = (*widthPtr) * (*heightPtr);
int numRemainingPixels = numTotalPixels - startPixelIndex;
int numBytesPerPixel = 4; //RGBA
int numRequestedPixels = btMin(rgbaBufferSizeInPixels, numRemainingPixels);
if (numRequestedPixels)
{
if (startPixelIndex==0)
if (startPixelIndex == 0)
{
glViewport(0,0,sourceWidth,sourceHeight);
glViewport(0, 0, sourceWidth, sourceHeight);
m_data->m_window->endRendering();
m_data->m_window->startRendering();
/*
@@ -1042,7 +1036,7 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
{
{
BT_PROFILE("copy pixels");
//copy the image into our local cache
m_data->m_sourceRgbaPixelBuffer.resize(sourceWidth * sourceHeight * numBytesPerPixel);
m_data->m_sourceDepthBuffer.resize(sourceWidth * sourceHeight);
@@ -1069,12 +1063,9 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
b3Assert(glstat == GL_NO_ERROR);
}
}
}
}
m_data->m_rgbaPixelBuffer1.resize((*widthPtr) * (*heightPtr) * numBytesPerPixel);
m_data->m_depthBuffer1.resize((*widthPtr) * (*heightPtr));
//rescale and flip
@@ -1116,14 +1107,14 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
{
{
m_data->m_window->startRendering();
BT_PROFILE("renderScene");
m_data->m_instancingRenderer->renderSceneInternal(B3_SEGMENTATION_MASK_RENDERMODE);
}
{
BT_PROFILE("copy pixels");
//copy the image into our local cache
m_data->m_segmentationMaskSourceRgbaPixelBuffer.resize(sourceWidth * sourceHeight * numBytesPerPixel);
m_data->m_segmentationMaskSourceDepthBuffer.resize(sourceWidth * sourceHeight);
@@ -1141,14 +1132,11 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
glstat = glGetError();
b3Assert(glstat == GL_NO_ERROR);
}
}
}
}
m_data->m_segmentationMaskBuffer.resize(destinationWidth * destinationHeight,-1);
m_data->m_segmentationMaskBuffer.resize(destinationWidth * destinationHeight, -1);
//rescale and flip
{
@@ -1168,11 +1156,12 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
if (segmentationMaskBuffer)
{
float depth = m_data->m_segmentationMaskSourceDepthBuffer[sourceDepthIndex];
if (depth<1)
if (depth < 1)
{
int segMask = m_data->m_segmentationMaskSourceRgbaPixelBuffer[sourcePixelIndex + 0]+256*(m_data->m_segmentationMaskSourceRgbaPixelBuffer[sourcePixelIndex + 1])+256*256*(m_data->m_segmentationMaskSourceRgbaPixelBuffer[sourcePixelIndex + 2]);
int segMask = m_data->m_segmentationMaskSourceRgbaPixelBuffer[sourcePixelIndex + 0] + 256 * (m_data->m_segmentationMaskSourceRgbaPixelBuffer[sourcePixelIndex + 1]) + 256 * 256 * (m_data->m_segmentationMaskSourceRgbaPixelBuffer[sourcePixelIndex + 2]);
m_data->m_segmentationMaskBuffer[i + j * destinationWidth] = segMask;
} else
}
else
{
m_data->m_segmentationMaskBuffer[i + j * destinationWidth] = -1;
}
@@ -1180,8 +1169,7 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
}
}
}
glViewport(0,0,m_data->m_window->getWidth() * m_data->m_window->getRetinaScale(),m_data->m_window->getHeight() * m_data->m_window->getRetinaScale());
glViewport(0, 0, m_data->m_window->getWidth() * m_data->m_window->getRetinaScale(), m_data->m_window->getHeight() * m_data->m_window->getRetinaScale());
}
if (pixelsRGBA)
{
@@ -1204,10 +1192,9 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
BT_PROFILE("copy segmentation mask buffer pixels");
for (int i = 0; i < numRequestedPixels; i++)
{
int graphicsIndexSegMask = m_data->m_segmentationMaskBuffer[i + startPixelIndex];
int segMask = -1;
if (graphicsIndexSegMask>=0 && graphicsIndexSegMask< m_data->m_graphicsIndexToSegmentationMask.size())
if (graphicsIndexSegMask >= 0 && graphicsIndexSegMask < m_data->m_graphicsIndexToSegmentationMask.size())
{
segMask = m_data->m_graphicsIndexToSegmentationMask[graphicsIndexSegMask];
}
@@ -1227,8 +1214,6 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
*numPixelsCopied = numRequestedPixels;
}
}
}
void EGLRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,