support changeVisualShape(rgbaColor) through GraphicsServer/Client

support getCameraInfo through GraphicsServer/Client

examples/SharedMemory/GraphicsServerExample.cpp

@@ -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 float* vertices = (const float*)&m_dataSlots[verticesSlot][0];
-				const int* indices = (const int*) &m_dataSlots[indicesSlot][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;
@@ -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;

examples/SharedMemory/GraphicsSharedMemoryCommands.h

@@ -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;
 	};
 };
 

examples/SharedMemory/GraphicsSharedMemoryPublic.h

@@ -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
 };

examples/SharedMemory/RemoteGUIHelper.cpp

@@ -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()
 {

examples/SharedMemory/RemoteGUIHelper.h

@@ -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);

examples/pybullet/examples/addPlanarReflection.py

@@ -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)):

examples/pybullet/examples/configureDebugVisualizer.py

@@ -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)