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support changeVisualShape(rgbaColor) through GraphicsServer/Client

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support getCameraInfo through GraphicsServer/Client
This commit is contained in:
Erwin Coumans
2019-07-02 09:48:34 -07:00
parent 2db6d2f594
commit 9db6acd97d
7 changed files with 122 additions and 6 deletions
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37
examples/SharedMemory/GraphicsServerExample.cpp
View File

@@ -109,7 +109,7 @@ public:
}
case GFX_CMD_SET_VISUALIZER_FLAG:
{
if (clientCmd.m_visualizerFlagCommand.m_visualizerFlag!=COV_ENABLE_RENDERING)
if (clientCmd.m_visualizerFlagCommand.m_visualizerFlag != COV_ENABLE_RENDERING)
{
//printf("clientCmd.m_visualizerFlag.m_visualizerFlag: %d, clientCmd.m_visualizerFlag.m_enable %d\n",
// clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable);
@@ -155,8 +155,8 @@ public:
int verticesSlot = 0;
int indicesSlot = 1;
serverStatusOut.m_type = GFX_CMD_REGISTER_GRAPHICS_SHAPE_FAILED;
const float* vertices = (const float*) &m_dataSlots[verticesSlot][0];
const int* indices = (const int*) &m_dataSlots[indicesSlot][0];
const float* vertices = (const float*)&m_dataSlots[verticesSlot][0];
const int* indices = (const int*)&m_dataSlots[indicesSlot][0];
int numVertices = clientCmd.m_registerGraphicsShapeCommand.m_numVertices;
int numIndices = clientCmd.m_registerGraphicsShapeCommand.m_numIndices;
int primitiveType = clientCmd.m_registerGraphicsShapeCommand.m_primitiveType;
@@ -176,7 +176,7 @@ public:
clientCmd.m_registerGraphicsInstanceCommand.m_scaling);
serverStatusOut.m_registerGraphicsInstanceStatus.m_graphicsInstanceId = graphicsInstanceId;
serverStatusOut.m_type = GFX_CMD_REGISTER_GRAPHICS_INSTANCE_COMPLETED;
break;
}
case GFX_CMD_SYNCHRONIZE_TRANSFORMS:
@@ -198,8 +198,37 @@ public:
m_app->m_renderer->removeGraphicsInstance(clientCmd.m_removeGraphicsInstanceCommand.m_graphicsUid);
break;
}
case GFX_CMD_CHANGE_RGBA_COLOR:
{
m_guiHelper->changeRGBAColor(clientCmd.m_changeRGBAColorCommand.m_graphicsUid, clientCmd.m_changeRGBAColorCommand.m_rgbaColor);
break;
}
case GFX_CMD_GET_CAMERA_INFO:
{
serverStatusOut.m_type = GFX_CMD_GET_CAMERA_INFO_FAILED;
if (m_guiHelper->getCameraInfo(
&serverStatusOut.m_getCameraInfoStatus.width,
&serverStatusOut.m_getCameraInfoStatus.height,
serverStatusOut.m_getCameraInfoStatus.viewMatrix,
serverStatusOut.m_getCameraInfoStatus.projectionMatrix,
serverStatusOut.m_getCameraInfoStatus.camUp,
serverStatusOut.m_getCameraInfoStatus.camForward,
serverStatusOut.m_getCameraInfoStatus.hor,
serverStatusOut.m_getCameraInfoStatus.vert,
&serverStatusOut.m_getCameraInfoStatus.yaw,
&serverStatusOut.m_getCameraInfoStatus.pitch,
&serverStatusOut.m_getCameraInfoStatus.camDist,
serverStatusOut.m_getCameraInfoStatus.camTarget))
{
serverStatusOut.m_type = GFX_CMD_GET_CAMERA_INFO_COMPLETED;
}
break;
}
default:
{
printf("unsupported command:%d\n", clientCmd.m_type);
}
}
return true;

24
examples/SharedMemory/GraphicsSharedMemoryCommands.h
View File

@@ -106,6 +106,28 @@ struct GraphicsRemoveInstanceCommand
int m_graphicsUid;
};
struct GraphicsChangeRGBAColorCommand
{
int m_graphicsUid;
double m_rgbaColor[4];
};
struct GraphicsGetCameraInfoStatus
{
int width;
int height;
float viewMatrix[16];
float projectionMatrix[16];
float camUp[3];
float camForward[3];
float hor[3];
float vert[3];
float yaw;
float pitch;
float camDist;
float camTarget[3];
};
struct GraphicsSharedMemoryCommand
{
@@ -127,6 +149,7 @@ struct GraphicsSharedMemoryCommand
struct GraphicsRegisterGraphicsInstanceCommand m_registerGraphicsInstanceCommand;
struct GraphicsSyncTransformsCommand m_syncTransformsCommand;
struct GraphicsRemoveInstanceCommand m_removeGraphicsInstanceCommand;
struct GraphicsChangeRGBAColorCommand m_changeRGBAColorCommand;
};
};
@@ -151,6 +174,7 @@ struct GraphicsSharedMemoryStatus
struct GraphicsRegisterTextureStatus m_registerTextureStatus;
struct GraphicsRegisterGraphicsShapeStatus m_registerGraphicsShapeStatus;
struct GraphicsRegisterGraphicsInstanceStatus m_registerGraphicsInstanceStatus;
struct GraphicsGetCameraInfoStatus m_getCameraInfoStatus;
};
};

4
examples/SharedMemory/GraphicsSharedMemoryPublic.h
View File

@@ -20,6 +20,8 @@ enum EnumGraphicsSharedMemoryClientCommand
GFX_CMD_SYNCHRONIZE_TRANSFORMS,
GFX_CMD_REMOVE_ALL_GRAPHICS_INSTANCES,
GFX_CMD_REMOVE_SINGLE_GRAPHICS_INSTANCE,
GFX_CMD_CHANGE_RGBA_COLOR,
GFX_CMD_GET_CAMERA_INFO,
//don't go beyond this command!
GFX_CMD_MAX_CLIENT_COMMANDS,
};
@@ -36,6 +38,8 @@ enum EnumGraphicsSharedMemoryServerStatus
GFX_CMD_REGISTER_GRAPHICS_SHAPE_FAILED,
GFX_CMD_REGISTER_GRAPHICS_INSTANCE_COMPLETED,
GFX_CMD_REGISTER_GRAPHICS_INSTANCE_FAILED,
GFX_CMD_GET_CAMERA_INFO_COMPLETED,
GFX_CMD_GET_CAMERA_INFO_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
GFX_CMD_MAX_SERVER_COMMANDS
};

55
examples/SharedMemory/RemoteGUIHelper.cpp
View File

@@ -240,6 +240,45 @@ void RemoteGUIHelper::createRigidBodyGraphicsObject(btRigidBody* body, const btV
printf("createRigidBodyGraphicsObject\n");
}
bool RemoteGUIHelper::getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3], float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const
{
GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
if (cmd)
{
cmd->m_updateFlags = 0;
cmd->m_type = GFX_CMD_GET_CAMERA_INFO;
m_data->submitClientCommand(*cmd);
}
const GraphicsSharedMemoryStatus* status = 0;
while ((status = m_data->processServerStatus()) == 0)
{
}
if (status->m_type == GFX_CMD_GET_CAMERA_INFO_COMPLETED)
{
*width = status->m_getCameraInfoStatus.width;
*height = status->m_getCameraInfoStatus.height;
for (int i = 0; i < 16; i++)
{
viewMatrix[i] = status->m_getCameraInfoStatus.viewMatrix[i];
projectionMatrix[i] = status->m_getCameraInfoStatus.projectionMatrix[i];
}
for (int i = 0; i < 3; i++)
{
camUp[i] = status->m_getCameraInfoStatus.camUp[i];
camForward[i] = status->m_getCameraInfoStatus.camForward[i];
hor[i] = status->m_getCameraInfoStatus.hor[i];
vert[i] = status->m_getCameraInfoStatus.vert[i];
camTarget[i] = status->m_getCameraInfoStatus.camTarget[i];
}
*yaw = status->m_getCameraInfoStatus.yaw;
*pitch = status->m_getCameraInfoStatus.pitch;
*camDist = status->m_getCameraInfoStatus.camDist;
return true;
}
return false;
}
void RemoteGUIHelper::createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color)
{
if (body->getUserIndex() < 0)
@@ -487,6 +526,22 @@ void RemoteGUIHelper::removeGraphicsInstance(int graphicsUid)
}
void RemoteGUIHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4])
{
GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
if (cmd)
{
cmd->m_updateFlags = 0;
cmd->m_type = GFX_CMD_CHANGE_RGBA_COLOR;
cmd->m_changeRGBAColorCommand.m_graphicsUid = instanceUid;
for (int i = 0; i < 4; i++)
{
cmd->m_changeRGBAColorCommand.m_rgbaColor[i] = rgbaColor[i];
}
m_data->submitClientCommand(*cmd);
const GraphicsSharedMemoryStatus* status = 0;
while ((status = m_data->processServerStatus()) == 0)
{
}
}
}
Common2dCanvasInterface* RemoteGUIHelper::get2dCanvasInterface()
{

2
examples/SharedMemory/RemoteGUIHelper.h
View File

@@ -20,6 +20,8 @@ struct RemoteGUIHelper : public GUIHelperInterface
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3], float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const;
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
virtual void syncPhysicsToGraphics2(const class btDiscreteDynamicsWorld* rbWorld);
virtual void syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions);

4
examples/pybullet/examples/addPlanarReflection.py
View File

@@ -32,7 +32,8 @@ def getRayFromTo(mouseX, mouseY):
return rayFrom, rayTo
cid = p.connect(p.SHARED_MEMORY)
cid = p.connect(p.SHARED_MEMORY_GUI)
#cid = p.connect(p.GUI)
if (cid < 0):
p.connect(p.GUI)
p.setPhysicsEngineParameter(numSolverIterations=10)
@@ -82,6 +83,7 @@ colors = [[1, 0, 0, 1], [0, 1, 0, 1], [0, 0, 1, 1], [1, 1, 1, 1]]
currentColor = 0
while (1):
p.getDebugVisualizerCamera()
mouseEvents = p.getMouseEvents()
for e in mouseEvents:
if ((e[0] == 2) and (e[3] == 0) and (e[4] & p.KEY_WAS_TRIGGERED)):

2
examples/pybullet/examples/configureDebugVisualizer.py
View File

@@ -3,7 +3,7 @@ import math
import time
dt = 1./240.
p.connect(p.GUI)
p.connect(p.SHARED_MEMORY_GUI)
p.loadURDF("r2d2.urdf",[0,0,1])
p.loadURDF("plane.urdf")
p.setGravity(0,0,-10)