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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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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;
}
}