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export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU)

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fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
This commit is contained in:
Erwin Coumans
2019-07-29 20:23:38 -07:00
parent 36f3adc03f
commit 51fba6f78d
14 changed files with 286 additions and 71 deletions
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19
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -262,9 +262,10 @@ public:
btAlignedObjectArray<GLInstanceVertex>* m_pVerticesOut;
btAlignedObjectArray<int>* m_pIndicesOut;
btVector3 m_aabbMin, m_aabbMax;
btScalar m_textureScaling;
MyTriangleCollector2(const btVector3& aabbMin, const btVector3& aabbMax)
:m_aabbMin(aabbMin), m_aabbMax(aabbMax)
:m_aabbMin(aabbMin), m_aabbMax(aabbMax), m_textureScaling(1)
{
m_pVerticesOut = 0;
m_pIndicesOut = 0;
@@ -284,9 +285,11 @@ public:
v.xyzw[l] = tris[k][l];
v.normal[l] = normal[l];
}
v.uv[1] = 1-((v.xyzw[0] - m_aabbMin[0]) / (m_aabbMax[0] - m_aabbMin[0]));
v.uv[0] = ((v.xyzw[1] - m_aabbMin[1]) / (m_aabbMax[1] - m_aabbMin[1]));
btVector3 extents = m_aabbMax - m_aabbMin;
v.uv[0] = (1.-((v.xyzw[0] - m_aabbMin[0]) / (m_aabbMax[0] - m_aabbMin[0])))*m_textureScaling;
v.uv[1] = (1.-(v.xyzw[1] - m_aabbMin[1]) / (m_aabbMax[1] - m_aabbMin[1]))*m_textureScaling;
m_pIndicesOut->push_back(m_pVerticesOut->size());
m_pVerticesOut->push_back(v);
@@ -433,7 +436,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
if (m_data->m_checkedTexture < 0)
{
m_data->m_checkedTexture = createCheckeredTexture(192, 192, 255);
m_data->m_checkedTexture = createCheckeredTexture(173, 199, 255);
}
if (m_data->m_checkedTextureGrey < 0)
@@ -459,6 +462,10 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
tr.setIdentity();
heightField->getAabb(tr, aabbMin, aabbMax);
MyTriangleCollector2 col(aabbMin, aabbMax);
if (heightField->getUserValue3())
{
col.m_textureScaling = heightField->getUserValue3();
}
col.m_pVerticesOut = &gfxVertices;
col.m_pIndicesOut = &indices;
for (int k = 0; k < 3; k++)
@@ -472,7 +479,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
int userImage = heightField->getUserIndex2();
if (userImage == -1)
{
userImage = m_data->m_checkedTextureGrey;
userImage = m_data->m_checkedTexture;
}
int shapeId = m_data->m_glApp->m_renderer->registerShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(),1, userImage);
collisionShape->setUserIndex(shapeId);