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Add programmatic render API and a basic test.

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This commit is contained in:
yunfeibai
2016-10-20 10:56:44 -07:00
parent ad07b3cf13
commit 6ef96a4027
9 changed files with 110 additions and 6 deletions
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25
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1252,7 +1252,32 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
}
}
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient)
{
/*
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_UPDATE_VISUAL_SHAPE;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
*/
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_UPDATE_VISUAL_SHAPE;
//command->m_requestVisualShapeDataArguments.m_bodyUniqueId = 0;
//command->m_requestVisualShapeDataArguments.m_startingVisualShapeIndex = 0;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient)
{

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -99,6 +99,7 @@ void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3Con
b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA);
void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo);
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient);
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);

17
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -481,6 +481,12 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
}
break;
}
case CMD_UPDATE_VISUAL_SHAPE:
{
b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
default:
{
b3Error("Unknown buttonId");
@@ -560,6 +566,7 @@ void PhysicsClientExample::createButtons()
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION, isTrigger);
createButton("Get Visual Shape Info",CMD_REQUEST_VISUAL_SHAPE_INFO, isTrigger);
createButton("Update Visual Shape",CMD_UPDATE_VISUAL_SHAPE, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
if (m_options!=eCLIENTEXAMPLE_SERVER)
{
@@ -997,14 +1004,20 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
b3Warning("Cannot get visual shape information");
}
if (statusType == CMD_VISUAL_SHAPE_UPDATE_FAILED)
{
b3Warning("Cannot update visual shape");
}
if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
b3VisualShapeInformation shapeInfo;
b3GetVisualShapeInformation(m_physicsClientHandle, &shapeInfo);
b3Printf("Num visual shapes: %d", shapeInfo.m_numVisualShapes);
}
if (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED)
{
b3Printf("Visual shape update completed.");
}
if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
{
b3ContactInformation contactPointData;

9
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -657,6 +657,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Visual Shape Info Request failed");
break;
}
case CMD_VISUAL_SHAPE_UPDATE_COMPLETED:
{
break;
}
case CMD_VISUAL_SHAPE_UPDATE_FAILED:
{
b3Warning("Visual Shape Update failed");
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);

12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3001,6 +3001,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
}
case CMD_UPDATE_VISUAL_SHAPE:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
m_data->m_visualConverter.activateShapeTexture(0, 0);
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED;
hasStatus = true;
break;
}
default:
{
b3Error("Unknown command encountered");

3
examples/SharedMemory/SharedMemoryPublic.h
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@@ -35,6 +35,7 @@ enum EnumSharedMemoryClientCommand
CMD_REQUEST_CONTACT_POINT_INFORMATION,
CMD_SAVE_WORLD,
CMD_REQUEST_VISUAL_SHAPE_INFO,
CMD_UPDATE_VISUAL_SHAPE,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -81,6 +82,8 @@ enum EnumSharedMemoryServerStatus
CMD_SAVE_WORLD_FAILED,
CMD_VISUAL_SHAPE_INFO_COMPLETED,
CMD_VISUAL_SHAPE_INFO_FAILED,
CMD_VISUAL_SHAPE_UPDATE_COMPLETED,
CMD_VISUAL_SHAPE_UPDATE_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};

36
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -33,6 +33,7 @@ subject to the following restrictions:
#include <fstream>
#include "../Importers/ImportURDFDemo/UrdfParser.h"
#include "../SharedMemory/SharedMemoryPublic.h"//for b3VisualShapeData
#include "../TinyRenderer/model.h"
enum MyFileType
@@ -68,6 +69,7 @@ struct TinyRendererVisualShapeConverterInternalData
int m_swWidth;
int m_swHeight;
TGAImage m_rgbColorBuffer;
TGAImage m_texture;
b3AlignedObjectArray<float> m_depthBuffer;
b3AlignedObjectArray<int> m_segmentationMaskBuffer;
@@ -77,7 +79,8 @@ struct TinyRendererVisualShapeConverterInternalData
:m_upAxis(2),
m_swWidth(START_WIDTH),
m_swHeight(START_HEIGHT),
m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB)
m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB),
m_texture(START_WIDTH,START_HEIGHT,TGAImage::RGB)
{
m_depthBuffer.resize(m_swWidth*m_swHeight);
m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1);
@@ -827,3 +830,34 @@ void TinyRendererVisualShapeConverter::resetAll()
m_data->m_swRenderInstances.clear();
}
// Get shapeUniqueId from getVisualShapesData?
void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId)
{
/*
// Use shapeUniqueId?
int objectArrayIndex = 0;
int objectIndex = 0;
TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(objectArrayIndex);
TinyRendererObjectArray* visualArray = *visualArrayPtr;
unsigned char textureImage[3] = {10, 10, 255};
int textureWidth = 1000;
int textureHeight = 1000;
visualArray->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
*/
int objectArrayIndex = 0;
int objectIndex = 0;
for (int i=0;i<m_data->m_swRenderInstances.size();i++)
{
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i);
if (ptrptr && *ptrptr)
{
TinyRendererObjectArray* ptr = *ptrptr;
unsigned char textureImage[3] = {255, 10, 10};
int textureWidth = 1000;
int textureHeight = 1000;
ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
}
}
}

4
examples/SharedMemory/TinyRendererVisualShapeConverter.h
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@@ -37,6 +37,10 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
void render();
void render(const float viewMat[16], const float projMat[16]);
int registerTexture(unsigned char* texels, int width, int height);
void activateShapeTexture(int shapeUniqueId, int textureUniqueId);
void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
};

9
examples/TinyRenderer/model.cpp
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@@ -57,9 +57,12 @@ void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWid
for (int j=0;j<textureHeight;j++)
{
TGAColor color;
color.bgra[0] = textureImage[(i+j*textureWidth)*3+0];
color.bgra[1] = textureImage[(i+j*textureWidth)*3+1];
color.bgra[2] = textureImage[(i+j*textureWidth)*3+2];
//color.bgra[0] = textureImage[(i+j*textureWidth)*3+0];
//color.bgra[1] = textureImage[(i+j*textureWidth)*3+1];
//color.bgra[2] = textureImage[(i+j*textureWidth)*3+2];
color.bgra[0] = textureImage[0];
color.bgra[1] = textureImage[1];
color.bgra[2] = textureImage[2];
color.bgra[3] = 255;
color.bytespp = 3;