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Add shared memory API to change light color.

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This commit is contained in:
yunfeibai
2016-11-20 12:52:12 -08:00
parent 936a104fb2
commit 93ba8af023
8 changed files with 49 additions and 6 deletions
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11
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1244,6 +1244,17 @@ void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHa
command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION;
}
void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
for (int i = 0; i<3; i++)
{
command->m_requestPixelDataArguments.m_lightColor[i] = lightColor[i];
}
command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR;
}
void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16])
{

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -97,6 +97,7 @@ b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physC
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]);
void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]);
void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer);
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);

5
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1420,6 +1420,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
m_data->m_visualConverter.setLightDirection(clientCmd.m_requestPixelDataArguments.m_lightDirection[0], clientCmd.m_requestPixelDataArguments.m_lightDirection[1], clientCmd.m_requestPixelDataArguments.m_lightDirection[2]);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR) != 0)
{
m_data->m_visualConverter.setLightColor(clientCmd.m_requestPixelDataArguments.m_lightColor[0], clientCmd.m_requestPixelDataArguments.m_lightColor[1], clientCmd.m_requestPixelDataArguments.m_lightColor[2]);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
{

6
examples/SharedMemory/SharedMemoryCommands.h
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@@ -139,13 +139,15 @@ struct RequestPixelDataArgs
int m_pixelWidth;
int m_pixelHeight;
float m_lightDirection[3];
float m_lightColor[3];
};
enum EnumRequestPixelDataUpdateFlags
{
REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1,
REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=4,
REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=8,
REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=2,
REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=4,
REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR=8,
//don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h
};

19
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -75,6 +75,8 @@ struct TinyRendererVisualShapeConverterInternalData
b3AlignedObjectArray<int> m_segmentationMaskBuffer;
btVector3 m_lightDirection;
bool m_hasLightDirection;
btVector3 m_lightColor;
bool m_hasLightColor;
SimpleCamera m_camera;
@@ -83,7 +85,8 @@ struct TinyRendererVisualShapeConverterInternalData
m_swWidth(START_WIDTH),
m_swHeight(START_HEIGHT),
m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB),
m_hasLightDirection(false)
m_hasLightDirection(false),
m_hasLightColor(false)
{
m_depthBuffer.resize(m_swWidth*m_swHeight);
m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1);
@@ -117,6 +120,11 @@ void TinyRendererVisualShapeConverter::setLightDirection(float x, float y, float
m_data->m_hasLightDirection = true;
}
void TinyRendererVisualShapeConverter::setLightColor(float x, float y, float z)
{
m_data->m_lightColor.setValue(x, y, z);
m_data->m_hasLightColor = true;
}
void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut)
{
@@ -704,6 +712,12 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
lightDirWorld.normalize();
btVector3 lightColor(1.0,1.0,1.0);
if (m_data->m_hasLightColor)
{
lightColor = m_data->m_lightColor;
}
// printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size());
for (int i=0;i<m_data->m_swRenderInstances.size();i++)
{
@@ -737,6 +751,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
renderObj->m_lightDirWorld = lightDirWorld;
renderObj->m_lightColor = lightColor;
}
}
TinyRenderer::renderObject(*renderObj);
@@ -900,4 +915,4 @@ int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
return registerTexture(image, width, height);
}
return -1;
}
}

1
examples/SharedMemory/TinyRendererVisualShapeConverter.h
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@@ -33,6 +33,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
void getWidthAndHeight(int& width, int& height);
void setWidthAndHeight(int width, int height);
void setLightDirection(float x, float y, float z);
void setLightColor(float x, float y, float z);
void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);