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add kukaCamGymEnv.py with camera observations (preliminary)

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show camera position in example browser
disable per-vertex and per-fragment profile timings
This commit is contained in:
Erwin Coumans
2017-06-21 09:33:46 -07:00
parent 71170d6384
commit 9213f944f1
7 changed files with 286 additions and 5 deletions
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11
examples/TinyRenderer/TinyRenderer.cpp
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@@ -124,7 +124,7 @@ struct Shader : public IShader {
m_projectionLightViewMat = m_projectionMat*m_lightModelView;
}
virtual Vec4f vertex(int iface, int nthvert) {
B3_PROFILE("vertex");
//B3_PROFILE("vertex");
Vec2f uv = m_model->uv(iface, nthvert);
varying_uv.set_col(nthvert, uv);
varying_nrm.set_col(nthvert, proj<3>(m_invModelMat*embed<4>(m_model->normal(iface, nthvert), 0.f)));
@@ -142,7 +142,7 @@ struct Shader : public IShader {
}
virtual bool fragment(Vec3f bar, TGAColor &color) {
B3_PROFILE("fragment");
//B3_PROFILE("fragment");
Vec4f p = m_viewportMat*(varying_tri_light_view*bar);
float depth = p[2];
p = p/p[3];
@@ -485,6 +485,7 @@ static bool clipTriangleAgainstNearplane(const mat<4,3,float>& triangleIn, b3Ali
void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
{
B3_PROFILE("renderObject");
int width = renderData.m_rgbColorBuffer.get_width();
int height = renderData.m_rgbColorBuffer.get_height();
@@ -517,10 +518,11 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
Shader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowBufferPtr, renderData.m_lightAmbientCoeff, renderData.m_lightDiffuseCoeff, renderData.m_lightSpecularCoeff);
{
B3_PROFILE("face");
for (int i=0; i<model->nfaces(); i++)
{
B3_PROFILE("face");
for (int j=0; j<3; j++) {
shader.vertex(i, j);
}
@@ -552,6 +554,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
}
}
}
}
}