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

Expose API to set projective texture instead of using global.

Browse Source
This commit is contained in:
yunfeibai
2018-03-20 21:28:47 -07:00
parent e42a934e16
commit 6b97e1e604
12 changed files with 33 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
Extras/BulletRobotics/CMakeLists.txt
View File

@@ -166,7 +166,7 @@ SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES SOVERSION ${BULLET_VERSION}) SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS) IF (BUILD_SHARED_LIBS)
TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics OpenGLWindow LinearMath Bullet3Common) TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
ENDIF (BUILD_SHARED_LIBS) ENDIF (BUILD_SHARED_LIBS)
IF (INSTALL_EXTRA_LIBS) IF (INSTALL_EXTRA_LIBS)

5
examples/CommonInterfaces/CommonGUIHelperInterface.h
View File

@@ -95,6 +95,7 @@ struct GUIHelperInterface
int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied){} int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied){}
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])=0; virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])=0;
virtual void setProjectiveTexture(bool useProjectiveTexture)=0;
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0; virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
@@ -183,6 +184,10 @@ struct DummyGUIHelper : public GUIHelperInterface
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]) virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
{ {
} }
virtual void setProjectiveTexture(bool useProjectiveTexture)
{
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{ {

1
examples/CommonInterfaces/CommonRenderInterface.h
View File

@@ -50,6 +50,7 @@ struct CommonRenderInterface
virtual void setLightPosition(const float lightPos[3]) = 0; virtual void setLightPosition(const float lightPos[3]) = 0;
virtual void setLightPosition(const double lightPos[3]) = 0; virtual void setLightPosition(const double lightPos[3]) = 0;
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]){}; virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]){};
virtual void setProjectiveTexture(bool useProjectiveTexture){};
virtual void renderScene()=0; virtual void renderScene()=0;
virtual void renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE){}; virtual void renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE){};

5
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -1103,6 +1103,11 @@ void OpenGLGuiHelper::setProjectiveTextureMatrices(const float viewMatrix[16], c
m_data->m_glApp->m_renderer->setProjectiveTextureMatrices(viewMatrix, projectionMatrix); m_data->m_glApp->m_renderer->setProjectiveTextureMatrices(viewMatrix, projectionMatrix);
} }
void OpenGLGuiHelper::setProjectiveTexture(bool useProjectiveTexture)
{
m_data->m_glApp->m_renderer->setProjectiveTexture(useProjectiveTexture);
}
void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,

1
examples/ExampleBrowser/OpenGLGuiHelper.h
View File

@@ -63,6 +63,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
int destinationHeight, int* numPixelsCopied); int destinationHeight, int* numPixelsCopied);
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]); virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
virtual void setProjectiveTexture(bool useProjectiveTexture);
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ; virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;

11
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -17,7 +17,6 @@ subject to the following restrictions:
///todo: make this configurable in the gui ///todo: make this configurable in the gui
bool useShadowMap = true;// true;//false;//true; bool useShadowMap = true;// true;//false;//true;
bool useProjectiveTexture = false;
int shadowMapWidth= 4096; int shadowMapWidth= 4096;
int shadowMapHeight= 4096; int shadowMapHeight= 4096;
float shadowMapWorldSize=10; float shadowMapWorldSize=10;
@@ -228,6 +227,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
GLfloat m_projectiveTextureProjectionMatrix[16]; GLfloat m_projectiveTextureProjectionMatrix[16];
GLfloat m_projectiveTextureViewMatrix[16]; GLfloat m_projectiveTextureViewMatrix[16];
GLfloat m_viewMatrixInverse[16]; GLfloat m_viewMatrixInverse[16];
bool m_useProjectiveTexture;
b3Vector3 m_lightPos; b3Vector3 m_lightPos;
b3Vector3 m_lightSpecularIntensity; b3Vector3 m_lightSpecularIntensity;
@@ -263,6 +263,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
m_projectiveTextureViewMatrix[i]=0; m_projectiveTextureViewMatrix[i]=0;
} }
m_useProjectiveTexture = false;
} }
@@ -1479,6 +1480,12 @@ void GLInstancingRenderer::setProjectiveTextureMatrices(const float viewMatrix[1
} }
} }
void GLInstancingRenderer::setProjectiveTexture(bool useProjectiveTexture)
{
m_data->m_useProjectiveTexture = useProjectiveTexture;
useShadowMap = !useProjectiveTexture;
}
void GLInstancingRenderer::updateCamera(int upAxis) void GLInstancingRenderer::updateCamera(int upAxis)
{ {
@@ -1595,7 +1602,7 @@ void GLInstancingRenderer::renderScene()
renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE); renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
} }
else if (useProjectiveTexture) else if (m_data->m_useProjectiveTexture)
{ {
renderSceneInternal(B3_USE_PROJECTIVE_TEXTURE_RENDERMODE); renderSceneInternal(B3_USE_PROJECTIVE_TEXTURE_RENDERMODE);
} }

1
examples/OpenGLWindow/GLInstancingRenderer.h
View File

@@ -132,6 +132,7 @@ public:
virtual void setLightPosition(const double lightPos[3]); virtual void setLightPosition(const double lightPos[3]);
void setLightSpecularIntensity(const float lightSpecularIntensity[3]); void setLightSpecularIntensity(const float lightSpecularIntensity[3]);
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]); virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
virtual void setProjectiveTexture(bool useProjectiveTexture);
virtual void resize(int width, int height); virtual void resize(int width, int height);
virtual int getScreenWidth() virtual int getScreenWidth()

2
examples/RobotSimulator/CMakeLists.txt
View File

@@ -116,7 +116,7 @@ ELSE()
ENDIF(APPLE) ENDIF(APPLE)
ENDIF(WIN32) ENDIF(WIN32)
TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow Bullet3Common) TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath Bullet3Common)

2
examples/SharedMemory/CMakeLists.txt
View File

@@ -97,7 +97,7 @@ IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ENDIF() ENDIF()
LINK_LIBRARIES( LINK_LIBRARIES(
Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath OpenGLWindow BussIK Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
) )

9
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -1,6 +1,5 @@
#include "PhysicsServerCommandProcessor.h" #include "PhysicsServerCommandProcessor.h"
#include "../CommonInterfaces/CommonRenderInterface.h" #include "../CommonInterfaces/CommonRenderInterface.h"
#include "../OpenGLWindow/GLInstancingRenderer.h"
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h" #include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
@@ -3108,8 +3107,6 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
return hasStatus; return hasStatus;
} }
extern bool useShadowMap;
extern bool useProjectiveTexture;
bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{ {
bool hasStatus = true; bool hasStatus = true;
@@ -3195,8 +3192,7 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
{ {
if ((flags & ER_USE_PROJECTIVE_TEXTURE) != 0) if ((flags & ER_USE_PROJECTIVE_TEXTURE) != 0)
{ {
useShadowMap = false; this->m_data->m_guiHelper->setProjectiveTexture(true);
useProjectiveTexture = true;
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES)!=0) if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES)!=0)
{ {
for (int i=0;i<16;i++) for (int i=0;i<16;i++)
@@ -3217,8 +3213,7 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
} }
else else
{ {
useShadowMap = true; this->m_data->m_guiHelper->setProjectiveTexture(false);
useProjectiveTexture = false;
} }
m_data->m_guiHelper->copyCameraImageData(viewMat, m_data->m_guiHelper->copyCameraImageData(viewMat,

5
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -1124,6 +1124,11 @@ public:
{ {
m_childGuiHelper->getAppInterface()->m_renderer->setProjectiveTextureMatrices(viewMatrix, projectionMatrix); m_childGuiHelper->getAppInterface()->m_renderer->setProjectiveTextureMatrices(viewMatrix, projectionMatrix);
} }
virtual void setProjectiveTexture(bool useProjectiveTexture)
{
m_childGuiHelper->getAppInterface()->m_renderer->setProjectiveTexture(useProjectiveTexture);
}
btDiscreteDynamicsWorld* m_dynamicsWorld; btDiscreteDynamicsWorld* m_dynamicsWorld;

2
test/SharedMemory/CMakeLists.txt
View File

@@ -16,7 +16,7 @@ IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ENDIF() ENDIF()
LINK_LIBRARIES( LINK_LIBRARIES(
BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest OpenGLWindow BussIK BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest BussIK
) )
IF (NOT WIN32) IF (NOT WIN32)