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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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18
examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
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@@ -13,14 +13,14 @@ class btTransform;
struct UrdfRenderingInterface struct UrdfRenderingInterface
{ {
///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc) ///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc)
///use the shapeUid as a unique identified to remove it ///use the collisionObjectUid as a unique identifier to synchronize the world transform and to remove the visual shape.
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex) =0; virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUid, int bodyUniqueId) =0;
///remove a visual shapes, based on the shape unique id (shapeUid) ///remove a visual shapes, based on the shape unique id (shapeUid)
virtual void removeVisualShape(int shapeUid)=0; virtual void removeVisualShape(int collisionObjectUid)=0;
///update the world transform + scaling of the visual shape, using the shapeUid ///update the world transform + scaling of the visual shape, using the shapeUid
virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0; virtual void syncTransform(int collisionObjectUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0;
///return the number of visual shapes, for a particular body unique id ///return the number of visual shapes, for a particular body unique id
virtual int getNumVisualShapes(int bodyUniqueId)=0; virtual int getNumVisualShapes(int bodyUniqueId)=0;
@@ -28,8 +28,11 @@ struct UrdfRenderingInterface
///return the visual shape information, for a particular body unique id and 'shape index' ///return the visual shape information, for a particular body unique id and 'shape index'
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0; virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0;
///change the RGBA color for a body unique id and link index ///change the RGBA color for some visual shape.
virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])=0; virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])=0;
///select a given texture for some visual shape.
virtual void changeShapeTexture(int objectUniqueId, int linkIndex, int shapeIndex, int textureUniqueId)=0;
///pick the up-axis, either Y (1) or Z (2) ///pick the up-axis, either Y (1) or Z (2)
virtual void setUpAxis(int axis)=0; virtual void setUpAxis(int axis)=0;
@@ -88,8 +91,7 @@ struct UrdfRenderingInterface
///register a texture using an in-memory pixel buffer of a given width and height ///register a texture using an in-memory pixel buffer of a given width and height
virtual int registerTexture(unsigned char* texels, int width, int height)=0; virtual int registerTexture(unsigned char* texels, int width, int height)=0;
///select a given texture for some visual shape.
virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)=0;
}; };

16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8453,7 +8453,10 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
{ {
if (m_data->m_pluginManager.getRenderInterface()) if (m_data->m_pluginManager.getRenderInterface())
{ {
m_data->m_pluginManager.getRenderInterface()->activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId); m_data->m_pluginManager.getRenderInterface()->changeShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId,
clientCmd.m_updateVisualShapeDataArguments.m_jointIndex,
clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex,
texHandle->m_tinyRendererTextureId);
} }
} }
} }
@@ -8485,12 +8488,15 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
{ {
if (m_data->m_pluginManager.getRenderInterface()) if (m_data->m_pluginManager.getRenderInterface())
{ {
m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId,linkIndex,
clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex,
clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
} }
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
} }
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR)
{ {
m_data->m_guiHelper->changeSpecularColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_specularColor); m_data->m_guiHelper->changeSpecularColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_specularColor);
} }
@@ -8514,7 +8520,8 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
{ {
if (m_data->m_pluginManager.getRenderInterface()) if (m_data->m_pluginManager.getRenderInterface())
{ {
m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId,linkIndex,
clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
} }
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
} }
@@ -8543,7 +8550,8 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
{ {
if (m_data->m_pluginManager.getRenderInterface()) if (m_data->m_pluginManager.getRenderInterface())
{ {
m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId,linkIndex,
clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
} }
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
} }

26
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -550,7 +550,7 @@ static btVector4 sColors[4] =
void TinyRendererVisualShapeConverter::convertVisualShapes( void TinyRendererVisualShapeConverter::convertVisualShapes(
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model, 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) btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
if (linkPtr) 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) 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); btAssert(visualsPtr);
TinyRendererObjectArray* visuals = *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; int start = -1;
for (int i = 0; i < m_data->m_visualShapes.size(); i++) for (int i = 0; i < m_data->m_visualShapes.size(); i++)
@@ -777,6 +777,8 @@ void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int lin
if ((bodyUniqueId == visuals->m_objectUniqueId) && (linkIndex == visuals->m_linkIndex)) if ((bodyUniqueId == visuals->m_objectUniqueId) && (linkIndex == visuals->m_linkIndex))
{ {
for (int q=0;q<visuals->m_renderObjects.size();q++) for (int q=0;q<visuals->m_renderObjects.size();q++)
{
if (shapeIndex<0 || q==shapeIndex)
{ {
visuals->m_renderObjects[q]->m_model->setColorRGBA(rgba); visuals->m_renderObjects[q]->m_model->setColorRGBA(rgba);
} }
@@ -784,6 +786,8 @@ void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int lin
} }
} }
} }
}
void TinyRendererVisualShapeConverter::setUpAxis(int axis) void TinyRendererVisualShapeConverter::setUpAxis(int 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) if (renderObjPtr)
{ {
TinyRendererObjectArray* renderObj = *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) if (ptrptr && *ptrptr)
{ {
TinyRendererObjectArray* ptr = *ptrptr; TinyRendererObjectArray* ptr = *ptrptr;
@@ -1123,7 +1127,7 @@ void TinyRendererVisualShapeConverter::removeVisualShape(int shapeUid)
} }
} }
delete ptr; 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()); btAssert(textureUniqueId < m_data->m_textures.size());
if (textureUniqueId >= 0 && 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 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); virtual void removeVisualShape(int shapeUid);
@@ -49,7 +51,7 @@ struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
virtual int loadTextureFile(const char* filename); virtual int loadTextureFile(const char* filename);
virtual int registerTexture(unsigned char* texels, int width, int height); 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); virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);