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minor clarification in UrdfRenderingInterface

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This commit is contained in:
erwincoumans
2018-01-21 11:15:35 -08:00
parent 69007dcc61
commit a92423b6f7
4 changed files with 43 additions and 27 deletions
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28
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -550,7 +550,7 @@ static btVector4 sColors[4] =
void TinyRendererVisualShapeConverter::convertVisualShapes(
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model,
int shapeUid, int bodyUniqueId)
int collisionObjectUniqueId, int bodyUniqueId)
{
btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
if (linkPtr)
@@ -627,12 +627,12 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
}
}
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[shapeUid];
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
if (visualsPtr==0)
{
m_data->m_swRenderInstances.insert(shapeUid,new TinyRendererObjectArray);
m_data->m_swRenderInstances.insert(collisionObjectUniqueId,new TinyRendererObjectArray);
}
visualsPtr = m_data->m_swRenderInstances[shapeUid];
visualsPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
btAssert(visualsPtr);
TinyRendererObjectArray* visuals = *visualsPtr;
@@ -753,7 +753,7 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])
void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])
{
int start = -1;
for (int i = 0; i < m_data->m_visualShapes.size(); i++)
@@ -778,7 +778,10 @@ void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int lin
{
for (int q=0;q<visuals->m_renderObjects.size();q++)
{
visuals->m_renderObjects[q]->m_model->setColorRGBA(rgba);
if (shapeIndex<0 || q==shapeIndex)
{
visuals->m_renderObjects[q]->m_model->setColorRGBA(rgba);
}
}
}
}
@@ -786,6 +789,7 @@ void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int lin
}
void TinyRendererVisualShapeConverter::setUpAxis(int axis)
{
m_data->m_upAxis = axis;
@@ -832,9 +836,9 @@ void TinyRendererVisualShapeConverter::render()
}
void TinyRendererVisualShapeConverter::syncTransform(int shapeUid, const btTransform& worldTransform, const btVector3& localScaling)
void TinyRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId, const btTransform& worldTransform, const btVector3& localScaling)
{
TinyRendererObjectArray** renderObjPtr = m_data->m_swRenderInstances[shapeUid];
TinyRendererObjectArray** renderObjPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
if (renderObjPtr)
{
TinyRendererObjectArray* renderObj = *renderObjPtr;
@@ -1109,9 +1113,9 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
}
}
void TinyRendererVisualShapeConverter::removeVisualShape(int shapeUid)
void TinyRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniqueId)
{
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[shapeUid];
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[collisionObjectUniqueId];
if (ptrptr && *ptrptr)
{
TinyRendererObjectArray* ptr = *ptrptr;
@@ -1123,7 +1127,7 @@ void TinyRendererVisualShapeConverter::removeVisualShape(int shapeUid)
}
}
delete ptr;
m_data->m_swRenderInstances.remove(shapeUid);
m_data->m_swRenderInstances.remove(collisionObjectUniqueId);
}
}
@@ -1160,7 +1164,7 @@ void TinyRendererVisualShapeConverter::resetAll()
}
void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
{
btAssert(textureUniqueId < m_data->m_textures.size());
if (textureUniqueId >= 0 && textureUniqueId < m_data->m_textures.size())

6
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
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@@ -18,7 +18,9 @@ struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4]);
virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4]);
virtual void changeShapeTexture(int objectUniqueId, int linkIndex, int shapeIndex, int textureUniqueId);
virtual void removeVisualShape(int shapeUid);
@@ -49,7 +51,7 @@ struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
virtual int loadTextureFile(const char* filename);
virtual int registerTexture(unsigned char* texels, int width, int height);
virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);