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work-in-progress tinyrenderer -> shared memory API synthetic camera image

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This commit is contained in:
erwin coumans
2016-05-17 23:57:19 -07:00
parent 876c9e57fe
commit 606f78da43
17 changed files with 319 additions and 122 deletions
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31
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -676,3 +676,34 @@ void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l
}
}
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_CAMERA_IMAGE_DATA;
return (b3SharedMemoryCommandHandle) command;
}
void b3RequestCameraImageSetResolution(b3SharedMemoryCommandHandle command, int pixelWidth, int pixelHeight)
{
}
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16])
{
}
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
if (cl)
{
}
}

8
examples/SharedMemory/PhysicsClientC_API.h
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@@ -64,7 +64,13 @@ b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle
///Get the pointers to the debug line information, after b3InitRequestDebugLinesCommand returns
///status CMD_DEBUG_LINES_COMPLETED
void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
void b3RequestCameraImageSetResolution(b3SharedMemoryCommandHandle command, int pixelWidth, int pixelHeight);
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);

7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -962,6 +962,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_REQUEST_CAMERA_IMAGE_DATA:
{
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
break;
}
case CMD_LOAD_URDF:
{

10
examples/SharedMemory/SharedMemoryPublic.h
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@@ -23,6 +23,7 @@ enum EnumSharedMemoryClientCommand
CMD_PICK_BODY,
CMD_MOVE_PICKED_BODY,
CMD_REMOVE_PICKING_CONSTRAINT_BODY,
CMD_REQUEST_CAMERA_IMAGE_DATA,
CMD_MAX_CLIENT_COMMANDS
};
@@ -105,6 +106,14 @@ struct b3DebugLines
const float* m_linesColor;//float red,green,blue times 'm_numDebugLines'.
};
struct b3CameraImageData
{
int m_pixelWidth;
int m_pixelHeight;
const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes
const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats
};
///b3LinkState provides extra information such as the Cartesian world coordinates
///center of mass (COM) of the link, relative to the world reference frame.
///Orientation is a quaternion x,y,z,w
@@ -127,4 +136,5 @@ enum {
CONTROL_MODE_POSITION_VELOCITY_PD,
};
#endif//SHARED_MEMORY_PUBLIC_H