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Update PhysicsServerCommandProcessor and plugins to support render

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This commit is contained in:
Chuyuan Fu
2019-06-25 17:59:15 -07:00
parent 796b5667c2
commit 4da456054c
7 changed files with 149 additions and 15 deletions
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2
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
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@@ -17,6 +17,8 @@ struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
virtual int addVisualShape(b3VisualShapeData* visualShape, struct CommonFileIOInterface* fileIO) { return -1; }
virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4]);
virtual void changeShapeTexture(int objectUniqueId, int linkIndex, int shapeIndex, int textureUniqueId);

58
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -828,6 +828,64 @@ int TinyRendererVisualShapeConverter::convertVisualShapes(
return uniqueId;
}
int TinyRendererVisualShapeConverter::addVisualShape(
b3VisualShapeData* visualShape, struct CommonFileIOInterface* fileIO)
{
int uniqueId = m_data->m_uidGenerator++;
visualShape->m_openglTextureId = -1;
visualShape->m_tinyRendererTextureId = -1;
visualShape->m_textureUniqueId = -1;
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(
visualShape->m_meshAssetFileName, meshData, fileIO))
{
if (m_data->m_flags & URDF_USE_MATERIAL_COLORS_FROM_MTL)
{
if (meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR)
{
visualShape->m_rgbaColor[0] = meshData.m_rgbaColor[0];
visualShape->m_rgbaColor[1] = meshData.m_rgbaColor[1];
visualShape->m_rgbaColor[2] = meshData.m_rgbaColor[2];
if (m_data->m_flags & URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL)
{
visualShape->m_rgbaColor[3] = meshData.m_rgbaColor[3];
}
else
{
visualShape->m_rgbaColor[3] = 1;
}
}
}
MyTexture2 texture;
if (meshData.m_textureImage1)
{
texture.m_width = meshData.m_textureWidth;
texture.m_height = meshData.m_textureHeight;
texture.textureData1 = meshData.m_textureImage1;
texture.m_isCached = meshData.m_isCached;
visualShape->m_tinyRendererTextureId = m_data->m_textures.size();
m_data->m_textures.push_back(texture);
}
// meshData.m_gfxShape is allocated by a helper function used to create visualShape,
// but is not needed in this use case here
delete meshData.m_gfxShape;
}
btAlignedObjectArray<b3VisualShapeData>* shapes =
m_data->m_visualShapesMap[visualShape->m_objectUniqueId];
if (!shapes)
{
m_data->m_visualShapesMap.insert(visualShape->m_objectUniqueId,
btAlignedObjectArray<b3VisualShapeData>());
shapes = m_data->m_visualShapesMap[visualShape->m_objectUniqueId];
}
shapes->push_back(*visualShape);
return uniqueId;
}
int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
{
btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[bodyUniqueId];

2
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
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@@ -13,6 +13,8 @@ struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int unused, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
virtual int addVisualShape(struct b3VisualShapeData* visualShape, struct CommonFileIOInterface* fileIO);
virtual int getNumVisualShapes(int bodyUniqueId);
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);