Remove unused ROS urdf (was replaced by Bullet UrdfParser.

Small refactoring for ExampleBrowser: move examples cpp files in the app/executable
Move ExtendedTutorials in its own app/executable as a test.

examples/TinyRenderer/Bullet2TinyRenderer.cpp

@@ -0,0 +1,164 @@
+
+
+#include "TinyRenderer.h"
+#include <stdio.h>
+#include "LinearMath/btHashMap.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+
+class Bullet2TinyRenderer
+{
+    
+	btAlignedObjectArray<TinyRenderObjectData*> m_swRenderObjects;
+	
+	btHashMap<btHashPtr,int> m_colObject2gfxIndex;
+	btHashMap<btHashPtr,int> m_colShape2gfxIndex;
+	
+	
+	int m_swWidth;
+	int m_swHeight;
+	TGAImage m_rgbColorBuffer;
+	
+	b3AlignedObjectArray<float> m_depthBuffer;
+	int m_textureHandle;
+	unsigned char*	m_image;
+	
+    
+public:
+    Bullet2TinyRenderer (int swWidth, int swHeight):
+    m_swWidth(swWidth),
+    m_swHeight(swHeight),
+	m_rgbColorBuffer(swWidth,swHeight,TGAImage::RGB)	
+    {
+
+		m_depthBuffer.resize(swWidth*swHeight);
+		m_image=new unsigned char[m_swWidth*m_swHeight*4];
+		
+    }
+	
+	virtual ~Bullet2TinyRenderer()
+    {
+        for (int i=0;i<m_swRenderObjects.size();i++)
+        {
+            TinyRenderObjectData* d = m_swRenderObjects[i];
+            delete d;
+        }
+    }
+    
+	void clearBuffers(TGAColor& clearColor)
+	{
+		for(int y=0;y<m_swHeight;++y)
+		{
+			for(int x=0;x<m_swWidth;++x)
+			{
+				m_rgbColorBuffer.set(x,y,clearColor);
+				m_depthBuffer[x+y*m_swWidth] = -1e30f;
+			}
+		}
+		
+	}
+    
+	const TGAImage& getFrameBuffer() const
+	{
+		return m_rgbColorBuffer;
+	}
+	
+  
+    
+	virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
+	{
+		int* colIndexPtr = m_colObject2gfxIndex[obj];
+		int* shapeIndexPtr = m_colShape2gfxIndex[obj->getCollisionShape()];
+		
+		
+		
+		//if (colIndex>=0 && shapeIndex>=0)
+		//{
+		//	m_col2gfxIndex.insert(colIndex,shapeIndex);
+		//}
+		
+	}
+	
+   /*	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
+   	{
+   	    
+   	    
+   	    if (shapeIndex>=0)
+        {
+            TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer);
+            swObj->registerMeshShape(vertices,numvertices,indices,numIndices);
+			//swObj->createCube(1,1,1);
+            m_swRenderObjects.insert(shapeIndex,swObj);
+        }
+   	    return shapeIndex;
+   	}
+*/
+	virtual void render(const btDiscreteDynamicsWorld* rbWorld, float viewMat[16])
+	{
+		//clear the color buffer
+		TGAColor clearColor;
+		clearColor.bgra[0] = 255;
+		clearColor.bgra[1] = 255;
+		clearColor.bgra[2] = 255;
+		clearColor.bgra[3] = 255;
+		
+		clearBuffers(clearColor);
+		
+		ATTRIBUTE_ALIGNED16(float modelMat[16]);
+		
+		
+		for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
+		{
+			btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
+			
+			int* colObjIndexPtr = m_colObject2gfxIndex[colObj];
+			
+			if (colObjIndexPtr)
+			{
+				int colObjIndex = *colObjIndexPtr;
+				TinyRenderObjectData* renderObj = m_swRenderObjects[colObjIndex];
+								
+				//sync the object transform
+				const btTransform& tr = colObj->getWorldTransform();
+				tr.getOpenGLMatrix(modelMat);
+				
+				for (int i=0;i<4;i++)
+				{
+					for (int j=0;j<4;j++)
+					{
+						renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
+						renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
+					}
+				}
+				TinyRenderer::renderObject(*renderObj);
+			}
+		}
+		
+		for(int y=0;y<m_swHeight;++y)
+		{
+			unsigned char*	pi=m_image+(y)*m_swWidth*3;
+			for(int x=0;x<m_swWidth;++x)
+			{
+				
+				const TGAColor& color = getFrameBuffer().get(x,y);
+				pi[0] = color.bgra[2];
+				pi[1] = color.bgra[1];
+				pi[2] = color.bgra[0];
+				pi+=3;
+				
+			}
+		} 
+		
+		static int counter=0;
+		counter++;
+		if (counter>10)
+		{
+			counter=0;
+			getFrameBuffer().write_tga_file("/Users/erwincoumans/develop/bullet3/framebuf.tga",true);
+		}
+		
+	}
+
+};
+

examples/TinyRenderer/TinyRenderer.cpp

@@ -10,7 +10,8 @@
 #include "../Utils/b3ResourcePath.h"
 #include "Bullet3Common/b3MinMax.h"
 #include "../OpenGLWindow/ShapeData.h"
-
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btVector3.h"
 Vec3f light_dir_world(1,1,1);
 
 
@@ -142,6 +143,40 @@ void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVerti
         }
     }
 }
+
+void TinyRenderObjectData::registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals,btAlignedObjectArray<int>& indices)
+{
+	if (0==m_model)
+    {
+		int numVertices = vertices.size();
+		int numIndices = indices.size();
+
+        m_model = new Model();
+		char relativeFileName[1024];
+		if (b3ResourcePath::findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
+		{
+			m_model->loadDiffuseTexture(relativeFileName);
+		}
+		
+        for (int i=0;i<numVertices;i++)
+        {
+            m_model->addVertex(vertices[i].x(),
+                         vertices[i].y(),
+                         vertices[i].z(),
+                         normals[i].x(),
+                         normals[i].y(),
+                         normals[i].z(),
+                         0.5,0.5);
+        }
+        for (int i=0;i<numIndices;i+=3)
+        {
+            m_model->addTriangle(indices[i],indices[i],indices[i],
+                                 indices[i+1],indices[i+1],indices[i+1],
+                                 indices[i+2],indices[i+2],indices[i+2]);
+        }
+    }
+}
+
 void TinyRenderObjectData::createCube(float halfExtentsX,float halfExtentsY,float halfExtentsZ)
 {
     m_model = new Model();

examples/TinyRenderer/TinyRenderer.h

@@ -3,6 +3,11 @@
 
 #include "geometry.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
+#include "Bullet3Common/b3Vector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btVector3.h"
+
+
 #include "tgaimage.h"
 
 struct TinyRenderObjectData
@@ -29,6 +34,8 @@ struct TinyRenderObjectData
     void loadModel(const char* fileName);
     void createCube(float HalfExtentsX,float HalfExtentsY,float HalfExtentsZ);
     void registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices);
+	
+	void registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals,btAlignedObjectArray<int>& indices);
     
     void* m_userData;
     int m_userIndex;

examples/TinyRenderer/main.cpp

@@ -89,9 +89,9 @@ int main(int argc, char* argv[])
 	TinyRenderObjectData renderData(textureWidth, textureHeight,rgbColorBuffer,depthBuffer);//, "african_head/african_head.obj");//floor.obj");
 	
 	//renderData.loadModel("african_head/african_head.obj");
-	//renderData.loadModel("floor.obj");
+	renderData.loadModel("floor.obj");
 	
-	renderData.createCube(1,1,1);
+	//renderData.createCube(1,1,1);
     
     
     myArgs.GetCmdLineArgument("mp4_file",gVideoFileName);

examples/TinyRenderer/model.cpp

@@ -1,3 +1,4 @@
+
 #include <iostream>
 #include <fstream>
 #include <sstream>