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Refactor shader and render pipeline code.

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This commit is contained in:
yunfeibai
2016-11-29 12:53:50 -08:00
parent 86c5dfe8f4
commit 8aa90a7427
3 changed files with 67 additions and 128 deletions
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88
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -77,6 +77,9 @@ struct TinyRendererVisualShapeConverterInternalData
bool m_hasLightDirection;
btVector3 m_lightColor;
bool m_hasLightColor;
float m_lightDistance;
bool m_hasLightDistance;
bool m_hasShadow;
SimpleCamera m_camera;
@@ -86,7 +89,8 @@ struct TinyRendererVisualShapeConverterInternalData
m_swHeight(START_HEIGHT),
m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB),
m_hasLightDirection(false),
m_hasLightColor(false)
m_hasLightColor(false),
m_hasShadow(true)
{
m_depthBuffer.resize(m_swWidth*m_swHeight);
m_shadowBuffer.resize(m_swWidth*m_swHeight);
@@ -127,6 +131,17 @@ void TinyRendererVisualShapeConverter::setLightColor(float x, float y, float z)
m_data->m_hasLightColor = true;
}
void TinyRendererVisualShapeConverter::setLightDistance(float dist)
{
m_data->m_lightDistance = dist;
m_data->m_hasLightDistance = true;
}
void TinyRendererVisualShapeConverter::setShadow(bool hasShadow)
{
m_data->m_hasShadow = hasShadow;
}
void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut)
{
@@ -721,44 +736,51 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
}
float lightDistance = 2.0;
for (int n=0;n<m_data->m_swRenderInstances.size();n++)
if (m_data->m_hasLightDistance)
{
TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(n);
if (0==visualArrayPtr)
continue;//can this ever happen?
TinyRendererObjectArray* visualArray = *visualArrayPtr;
btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(n);
const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
for (int v=0;v<visualArray->m_renderObjects.size();v++)
{
TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v];
//sync the object transform
const btTransform& tr = colObj->getWorldTransform();
tr.getOpenGLMatrix(modelMat);
lightDistance = m_data->m_hasLightDistance;
}
for (int i=0;i<4;i++)
if (m_data->m_hasShadow)
{
for (int n=0;n<m_data->m_swRenderInstances.size();n++)
{
TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(n);
if (0==visualArrayPtr)
continue;//can this ever happen?
TinyRendererObjectArray* visualArray = *visualArrayPtr;
btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(n);
const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
for (int v=0;v<visualArray->m_renderObjects.size();v++)
{
for (int j=0;j<4;j++)
TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v];
//sync the object transform
const btTransform& tr = colObj->getWorldTransform();
tr.getOpenGLMatrix(modelMat);
for (int i=0;i<4;i++)
{
renderObj->m_projectionMatrix[i][j] = projMat[i+4*j];
renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
for (int j=0;j<4;j++)
{
renderObj->m_projectionMatrix[i][j] = projMat[i+4*j];
renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
}
}
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
renderObj->m_lightDirWorld = lightDirWorld;
renderObj->m_lightColor = lightColor;
renderObj->m_lightDistance = lightDistance;
TinyRenderer::renderObjectDepth(*renderObj);
}
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
renderObj->m_lightDirWorld = lightDirWorld;
renderObj->m_lightColor = lightColor;
renderObj->m_lightDistance = lightDistance;
TinyRenderer::renderObjectDepth(*renderObj);
}
}

2
examples/SharedMemory/TinyRendererVisualShapeConverter.h
View File

@@ -34,6 +34,8 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
void setWidthAndHeight(int width, int height);
void setLightDirection(float x, float y, float z);
void setLightColor(float x, float y, float z);
void setLightDistance(float dist);
void setShadow(bool hasShadow);
void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);