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Add preliminary PhysX 4.0 backend for PyBullet

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Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
This commit is contained in:
erwincoumans
2019-01-22 21:08:37 -08:00
parent 80684f44ea
commit ae8e83988b
366 changed files with 131855 additions and 359 deletions
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407
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
View File

@@ -73,9 +73,9 @@ struct MyTexture3
struct EGLRendererObjectArray
{
btAlignedObjectArray<TinyRenderObjectData*> m_renderObjects;
btAlignedObjectArray<int> m_graphicsInstanceIds;
int m_objectUniqueId;
int m_linkIndex;
int m_graphicsInstanceId;
btTransform m_worldTransform;
btVector3 m_localScaling;
@@ -83,12 +83,15 @@ struct EGLRendererObjectArray
{
m_worldTransform.setIdentity();
m_localScaling.setValue(1, 1, 1);
m_graphicsInstanceId = -1;
}
};
#define START_WIDTH 2560
#define START_HEIGHT 2048
//#define START_WIDTH 2560
//#define START_HEIGHT 2048
#define START_WIDTH 1024
#define START_HEIGHT 768
struct EGLRendererVisualShapeConverterInternalData
{
@@ -105,6 +108,7 @@ struct EGLRendererVisualShapeConverterInternalData
btAlignedObjectArray<b3VisualShapeData> m_visualShapes;
int m_upAxis;
int m_swWidth;
int m_swHeight;
@@ -132,12 +136,22 @@ struct EGLRendererVisualShapeConverterInternalData
int m_flags;
SimpleCamera m_camera;
bool m_leftMouseButton;
bool m_middleMouseButton;
bool m_rightMouseButton;
float m_wheelMultiplier;
float m_mouseMoveMultiplier;
float m_mouseXpos;
float m_mouseYpos;
bool m_mouseInitialized;
int m_graphicsUniqueIdGenerator;
EGLRendererVisualShapeConverterInternalData()
: m_upAxis(2),
m_swWidth(START_WIDTH),
m_swHeight(START_HEIGHT),
m_rgbColorBuffer(START_WIDTH, START_HEIGHT, TGAImage::RGB),
m_lightDirection(btVector3(-5, 200, -40)),
m_lightDirection(btVector3(-5, -40, 200 )),
m_hasLightDirection(false),
m_lightColor(btVector3(1.0, 1.0, 1.0)),
m_hasLightColor(false),
@@ -150,7 +164,16 @@ struct EGLRendererVisualShapeConverterInternalData
m_lightSpecularCoeff(0.05),
m_hasLightSpecularCoeff(false),
m_hasShadow(false),
m_flags(0)
m_flags(0),
m_leftMouseButton(false),
m_middleMouseButton(false),
m_rightMouseButton(false),
m_wheelMultiplier(0.01f),
m_mouseMoveMultiplier(0.4f),
m_mouseXpos(0.f),
m_mouseYpos(0.f),
m_mouseInitialized(false),
m_graphicsUniqueIdGenerator(15)
{
m_depthBuffer.resize(m_swWidth * m_swHeight);
m_shadowBuffer.resize(m_swWidth * m_swHeight);
@@ -161,7 +184,7 @@ struct EGLRendererVisualShapeConverterInternalData
m_window = new DefaultOpenGLWindow();
m_window->setAllowRetina(allowRetina);
b3gWindowConstructionInfo ci;
ci.m_title = "Title";
ci.m_title = "PyBullet";
ci.m_width = m_swWidth;
ci.m_height = m_swHeight;
ci.m_renderDevice = 0;
@@ -207,21 +230,234 @@ struct EGLRendererVisualShapeConverterInternalData
}
};
static EGLRendererVisualShapeConverter* gWindow = 0;
static void SimpleResizeCallback(float widthf, float heightf)
{
int width = (int)widthf;
int height = (int)heightf;
if (gWindow && gWindow->m_data->m_instancingRenderer)
{
gWindow->m_data->m_instancingRenderer->resize(width, height);
}
//if (gApp && gApp->m_instancingRenderer)
// gApp->m_instancingRenderer->resize(width, height);
//
//if (gApp && gApp->m_primRenderer)
// gApp->m_primRenderer->setScreenSize(width, height);
}
static void SimpleKeyboardCallback(int key, int state)
{
if (key == B3G_ESCAPE) //&& gApp && gApp->m_window)
{
//gApp->m_window->setRequestExit();
}
else
{
//gApp->defaultKeyboardCallback(key,state);
}
}
static void SimpleMouseButtonCallback(int button, int state, float x, float y)
{
if (gWindow)
{
gWindow->mouseButtonCallback(button, state, x, y);
}
}
static void SimpleMouseMoveCallback(float x, float y)
{
if (gWindow)
{
gWindow->mouseMoveCallback(x, y);
}
}
static void SimpleWheelCallback(float deltax, float deltay)
{
float wheelMultiplier = 0.01f;
if (gWindow && gWindow->m_data->m_instancingRenderer)
{
class GLInstancingRenderer* renderer = gWindow->m_data->m_instancingRenderer;
b3Vector3 cameraTargetPosition, cameraPosition, cameraUp = b3MakeVector3(0, 0, 0);
int upAxis = renderer->getActiveCamera()->getCameraUpAxis();
cameraUp[upAxis] = 1;
CommonCameraInterface* camera = renderer->getActiveCamera();
camera->getCameraPosition(cameraPosition);
camera->getCameraTargetPosition(cameraTargetPosition);
bool m_leftMouseButton = false;
if (!m_leftMouseButton)
{
float cameraDistance = camera->getCameraDistance();
if (deltay < 0 || cameraDistance > 1)
{
cameraDistance -= deltay * 0.01f;
if (cameraDistance < 1)
cameraDistance = 1;
camera->setCameraDistance(cameraDistance);
}
else
{
b3Vector3 fwd = cameraTargetPosition - cameraPosition;
fwd.normalize();
cameraTargetPosition += fwd * deltay * wheelMultiplier; //todo: expose it in the GUI?
}
}
else
{
if (b3Fabs(deltax) > b3Fabs(deltay))
{
b3Vector3 fwd = cameraTargetPosition - cameraPosition;
b3Vector3 side = cameraUp.cross(fwd);
side.normalize();
cameraTargetPosition += side * deltax * wheelMultiplier;
}
else
{
cameraTargetPosition -= cameraUp * deltay * wheelMultiplier;
}
}
camera->setCameraTargetPosition(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
}
}
void defaultMouseButtonCallback(int button, int state, float x, float y)
{
if (gWindow)
{
gWindow->mouseButtonCallback(button, state, x, y);
}
}
void defaultMouseMoveCallback(float x, float y)
{
if (gWindow)
{
gWindow->mouseMoveCallback(x, y);
} //m_window && m_renderer
}
void EGLRendererVisualShapeConverter::mouseButtonCallback(int button, int state, float x, float y)
{
if (button == 0)
m_data->m_leftMouseButton = (state == 1);
if (button == 1)
m_data->m_middleMouseButton = (state == 1);
if (button == 2)
m_data->m_rightMouseButton = (state == 1);
m_data->m_mouseXpos = x;
m_data->m_mouseYpos = y;
m_data->m_mouseInitialized = true;
}
void EGLRendererVisualShapeConverter::mouseMoveCallback(float x, float y)
{
class GLInstancingRenderer* renderer = m_data->m_instancingRenderer;
if (renderer == 0)
return;
CommonCameraInterface* camera = renderer->getActiveCamera();
bool isAltPressed = m_data->m_window->isModifierKeyPressed(B3G_ALT);
bool isControlPressed = m_data->m_window->isModifierKeyPressed(B3G_CONTROL);
if (isAltPressed || isControlPressed)
{
float xDelta = x - m_data->m_mouseXpos;
float yDelta = y - m_data->m_mouseYpos;
float cameraDistance = camera->getCameraDistance();
float pitch = camera->getCameraPitch();
float yaw = camera->getCameraYaw();
float targPos[3];
float camPos[3];
camera->getCameraTargetPosition(targPos);
camera->getCameraPosition(camPos);
b3Vector3 cameraPosition = b3MakeVector3(b3Scalar(camPos[0]),
b3Scalar(camPos[1]),
b3Scalar(camPos[2]));
b3Vector3 cameraTargetPosition = b3MakeVector3(b3Scalar(targPos[0]),
b3Scalar(targPos[1]),
b3Scalar(targPos[2]));
b3Vector3 cameraUp = b3MakeVector3(0, 0, 0);
cameraUp[camera->getCameraUpAxis()] = 1.f;
if (m_data->m_leftMouseButton)
{
// if (b3Fabs(xDelta)>b3Fabs(yDelta))
// {
pitch -= yDelta * m_data->m_mouseMoveMultiplier;
// } else
// {
yaw -= xDelta * m_data->m_mouseMoveMultiplier;
// }
}
if (m_data->m_middleMouseButton)
{
cameraTargetPosition += cameraUp * yDelta * 0.01;
b3Vector3 fwd = cameraTargetPosition - cameraPosition;
b3Vector3 side = cameraUp.cross(fwd);
side.normalize();
cameraTargetPosition += side * xDelta * 0.01;
}
if (m_data->m_rightMouseButton)
{
cameraDistance -= xDelta * 0.01f;
cameraDistance -= yDelta * 0.01f;
if (cameraDistance < 1)
cameraDistance = 1;
if (cameraDistance > 1000)
cameraDistance = 1000;
}
camera->setCameraDistance(cameraDistance);
camera->setCameraPitch(pitch);
camera->setCameraYaw(yaw);
camera->setCameraTargetPosition(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
}
m_data->m_mouseXpos = x;
m_data->m_mouseYpos = y;
m_data->m_mouseInitialized = true;
}
EGLRendererVisualShapeConverter::EGLRendererVisualShapeConverter()
{
m_data = new EGLRendererVisualShapeConverterInternalData();
float dist = 1.5;
float pitch = -10;
float yaw = -80;
float targetPos[3] = {0, 0, 0};
m_data->m_camera.setCameraUpAxis(m_data->m_upAxis);
resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
gWindow = this;
m_data->m_window->setResizeCallback(SimpleResizeCallback);
m_data->m_window->setWheelCallback(SimpleWheelCallback);
m_data->m_window->setMouseButtonCallback(SimpleMouseButtonCallback);
m_data->m_window->setMouseMoveCallback(SimpleMouseMoveCallback);
}
EGLRendererVisualShapeConverter::~EGLRendererVisualShapeConverter()
{
gWindow = 0;
resetAll();
delete m_data;
}
void EGLRendererVisualShapeConverter::setLightDirection(float x, float y, float z)
@@ -649,11 +885,15 @@ static btVector4 sColors[4] =
// If you are getting segfaults in this function it may be ecause you are
// compliling the plugin with differently from pybullet, try complining the
// plugin with distutils too.
void EGLRendererVisualShapeConverter::convertVisualShapes(
int EGLRendererVisualShapeConverter::convertVisualShapes(
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model,
int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO)
int orgGraphicsUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO)
{
if (orgGraphicsUniqueId< 0)
{
orgGraphicsUniqueId = m_data->m_graphicsUniqueIdGenerator++;
}
btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
if (linkPtr)
{
@@ -743,12 +983,12 @@ void EGLRendererVisualShapeConverter::convertVisualShapes(
}
}
EGLRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
EGLRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[orgGraphicsUniqueId];
if (visualsPtr == 0)
{
m_data->m_swRenderInstances.insert(collisionObjectUniqueId, new EGLRendererObjectArray);
m_data->m_swRenderInstances.insert(orgGraphicsUniqueId, new EGLRendererObjectArray);
}
visualsPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
visualsPtr = m_data->m_swRenderInstances[orgGraphicsUniqueId];
btAssert(visualsPtr);
EGLRendererObjectArray* visuals = *visualsPtr;
@@ -808,13 +1048,14 @@ void EGLRendererVisualShapeConverter::convertVisualShapes(
int shapeIndex = m_data->m_instancingRenderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex);
double scaling[3] = {1, 1, 1};
visuals->m_graphicsInstanceId = m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0], scaling);
int graphicsIndex = m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0], scaling);
int segmentationMask = bodyUniqueId + ((linkIndex + 1) << 24);
{
int graphicsIndex = visuals->m_graphicsInstanceId;
if (graphicsIndex >= 0)
{
visuals->m_graphicsInstanceIds.push_back(graphicsIndex);
if (m_data->m_graphicsIndexToSegmentationMask.size() < (graphicsIndex + 1))
{
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex + 1);
@@ -835,6 +1076,7 @@ void EGLRendererVisualShapeConverter::convertVisualShapes(
}
}
}
return orgGraphicsUniqueId;
}
int EGLRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
@@ -1032,7 +1274,7 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
int numRemainingPixels = numTotalPixels - startPixelIndex;
int numBytesPerPixel = 4; //RGBA
int numRequestedPixels = btMin(rgbaBufferSizeInPixels, numRemainingPixels);
if (numRequestedPixels)
if (1)
{
if (startPixelIndex == 0)
{
@@ -1049,9 +1291,13 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
m_data->m_instancingRenderer->updateCamera(m_data->m_upAxis);
m_data->m_instancingRenderer->renderScene();
m_data->m_instancingRenderer->drawLine(b3MakeVector3(0, 0, 0), b3MakeVector3(1, 0, 0), b3MakeVector3(1, 0, 0), 3);
m_data->m_instancingRenderer->drawLine(b3MakeVector3(0, 0, 0), b3MakeVector3(0, 1, 0), b3MakeVector3(0, 1, 0), 3);
m_data->m_instancingRenderer->drawLine(b3MakeVector3(0, 0, 0), b3MakeVector3(0, 0, 1), b3MakeVector3(0, 0, 1), 3);
int numBytesPerPixel = 4; //RGBA
if (pixelsRGBA || depthBuffer)
{
{
BT_PROFILE("copy pixels");
@@ -1083,40 +1329,40 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
}
}
}
}
m_data->m_rgbaPixelBuffer1.resize((*widthPtr) * (*heightPtr) * numBytesPerPixel);
m_data->m_depthBuffer1.resize((*widthPtr) * (*heightPtr));
//rescale and flip
{
BT_PROFILE("resize and flip");
for (int j = 0; j < *heightPtr; j++)
m_data->m_rgbaPixelBuffer1.resize((*widthPtr) * (*heightPtr) * numBytesPerPixel);
m_data->m_depthBuffer1.resize((*widthPtr) * (*heightPtr));
//rescale and flip
{
for (int i = 0; i < *widthPtr; i++)
BT_PROFILE("resize and flip");
for (int j = 0; j < *heightPtr; j++)
{
int xIndex = int(float(i) * (float(sourceWidth) / float(*widthPtr)));
int yIndex = int(float(*heightPtr - 1 - j) * (float(sourceHeight) / float(*heightPtr)));
btClamp(xIndex, 0, sourceWidth);
btClamp(yIndex, 0, sourceHeight);
int bytesPerPixel = 4; //RGBA
int sourcePixelIndex = (xIndex + yIndex * sourceWidth) * bytesPerPixel;
int sourceDepthIndex = xIndex + yIndex * sourceWidth;
#define COPY4PIXELS 1
#ifdef COPY4PIXELS
int* dst = (int*)&m_data->m_rgbaPixelBuffer1[(i + j * (*widthPtr)) * 4 + 0];
int* src = (int*)&m_data->m_sourceRgbaPixelBuffer[sourcePixelIndex + 0];
*dst = *src;
#else
m_data->m_rgbaPixelBuffer1[(i + j * widthPtr) * 4 + 0] = sourceRgbaPixelBuffer[sourcePixelIndex + 0];
m_data->m_rgbaPixelBuffer1[(i + j * widthPtr) * 4 + 1] = sourceRgbaPixelBuffer[sourcePixelIndex + 1];
m_data->m_rgbaPixelBuffer1[(i + j * widthPtr) * 4 + 2] = sourceRgbaPixelBuffer[sourcePixelIndex + 2];
m_data->m_rgbaPixelBuffer1[(i + j * widthPtr) * 4 + 3] = 255;
#endif
if (depthBuffer)
for (int i = 0; i < *widthPtr; i++)
{
m_data->m_depthBuffer1[i + j * (*widthPtr)] = m_data->m_sourceDepthBuffer[sourceDepthIndex];
int xIndex = int(float(i) * (float(sourceWidth) / float(*widthPtr)));
int yIndex = int(float(*heightPtr - 1 - j) * (float(sourceHeight) / float(*heightPtr)));
btClamp(xIndex, 0, sourceWidth);
btClamp(yIndex, 0, sourceHeight);
int bytesPerPixel = 4; //RGBA
int sourcePixelIndex = (xIndex + yIndex * sourceWidth) * bytesPerPixel;
int sourceDepthIndex = xIndex + yIndex * sourceWidth;
#define COPY4PIXELS 1
#ifdef COPY4PIXELS
int* dst = (int*)&m_data->m_rgbaPixelBuffer1[(i + j * (*widthPtr)) * 4 + 0];
int* src = (int*)&m_data->m_sourceRgbaPixelBuffer[sourcePixelIndex + 0];
*dst = *src;
#else
m_data->m_rgbaPixelBuffer1[(i + j * widthPtr) * 4 + 0] = sourceRgbaPixelBuffer[sourcePixelIndex + 0];
m_data->m_rgbaPixelBuffer1[(i + j * widthPtr) * 4 + 1] = sourceRgbaPixelBuffer[sourcePixelIndex + 1];
m_data->m_rgbaPixelBuffer1[(i + j * widthPtr) * 4 + 2] = sourceRgbaPixelBuffer[sourcePixelIndex + 2];
m_data->m_rgbaPixelBuffer1[(i + j * widthPtr) * 4 + 3] = 255;
#endif
if (depthBuffer)
{
m_data->m_depthBuffer1[i + j * (*widthPtr)] = m_data->m_sourceDepthBuffer[sourceDepthIndex];
}
}
}
}
@@ -1153,36 +1399,35 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
}
}
}
}
m_data->m_segmentationMaskBuffer.resize(destinationWidth * destinationHeight, -1);
m_data->m_segmentationMaskBuffer.resize(destinationWidth * destinationHeight, -1);
//rescale and flip
{
BT_PROFILE("resize and flip");
for (int j = 0; j < destinationHeight; j++)
//rescale and flip
{
for (int i = 0; i < destinationWidth; i++)
BT_PROFILE("resize and flip");
for (int j = 0; j < destinationHeight; j++)
{
int xIndex = int(float(i) * (float(sourceWidth) / float(destinationWidth)));
int yIndex = int(float(destinationHeight - 1 - j) * (float(sourceHeight) / float(destinationHeight)));
btClamp(xIndex, 0, sourceWidth);
btClamp(yIndex, 0, sourceHeight);
int bytesPerPixel = 4; //RGBA
int sourcePixelIndex = (xIndex + yIndex * sourceWidth) * bytesPerPixel;
int sourceDepthIndex = xIndex + yIndex * sourceWidth;
if (segmentationMaskBuffer)
for (int i = 0; i < destinationWidth; i++)
{
float depth = m_data->m_segmentationMaskSourceDepthBuffer[sourceDepthIndex];
if (depth < 1)
int xIndex = int(float(i) * (float(sourceWidth) / float(destinationWidth)));
int yIndex = int(float(destinationHeight - 1 - j) * (float(sourceHeight) / float(destinationHeight)));
btClamp(xIndex, 0, sourceWidth);
btClamp(yIndex, 0, sourceHeight);
int bytesPerPixel = 4; //RGBA
int sourcePixelIndex = (xIndex + yIndex * sourceWidth) * bytesPerPixel;
int sourceDepthIndex = xIndex + yIndex * sourceWidth;
if (segmentationMaskBuffer)
{
int segMask = m_data->m_segmentationMaskSourceRgbaPixelBuffer[sourcePixelIndex + 0] + 256 * (m_data->m_segmentationMaskSourceRgbaPixelBuffer[sourcePixelIndex + 1]) + 256 * 256 * (m_data->m_segmentationMaskSourceRgbaPixelBuffer[sourcePixelIndex + 2]);
m_data->m_segmentationMaskBuffer[i + j * destinationWidth] = segMask;
}
else
{
m_data->m_segmentationMaskBuffer[i + j * destinationWidth] = -1;
float depth = m_data->m_segmentationMaskSourceDepthBuffer[sourceDepthIndex];
if (depth < 1)
{
int segMask = m_data->m_segmentationMaskSourceRgbaPixelBuffer[sourcePixelIndex + 0] + 256 * (m_data->m_segmentationMaskSourceRgbaPixelBuffer[sourcePixelIndex + 1]) + 256 * 256 * (m_data->m_segmentationMaskSourceRgbaPixelBuffer[sourcePixelIndex + 2]);
m_data->m_segmentationMaskBuffer[i + j * destinationWidth] = segMask;
}
else
{
m_data->m_segmentationMaskBuffer[i + j * destinationWidth] = -1;
}
}
}
}
@@ -1257,7 +1502,11 @@ void EGLRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniqu
{
for (int o = 0; o < ptr->m_renderObjects.size(); o++)
{
m_data->m_instancingRenderer->removeGraphicsInstance(ptr->m_graphicsInstanceId);
for (int i = 0; i < ptr->m_graphicsInstanceIds.size(); i++)
{
m_data->m_instancingRenderer->removeGraphicsInstance(ptr->m_graphicsInstanceIds[i]);
}
delete ptr->m_renderObjects[o];
}
}
@@ -1387,11 +1636,15 @@ void EGLRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId,
EGLRendererObjectArray* renderObj = *renderObjPtr;
renderObj->m_worldTransform = worldTransform;
renderObj->m_localScaling = localScaling;
if (renderObj->m_graphicsInstanceId >= 0)
for (int i = 0; i < renderObj->m_graphicsInstanceIds.size(); i++)
{
btVector3 pos = worldTransform.getOrigin();
btQuaternion orn = worldTransform.getRotation();
m_data->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos, orn, renderObj->m_graphicsInstanceId);
int graphicsInstanceId = renderObj->m_graphicsInstanceIds[i];
if (graphicsInstanceId >= 0)
{
btVector3 pos = worldTransform.getOrigin();
btQuaternion orn = worldTransform.getRotation();
m_data->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos, orn, graphicsInstanceId);
}
}
}
}

6
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
View File

@@ -11,7 +11,7 @@ struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
virtual ~EGLRendererVisualShapeConverter();
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
virtual int getNumVisualShapes(int bodyUniqueId);
@@ -55,6 +55,10 @@ struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
virtual void setProjectiveTexture(bool useProjectiveTexture);
virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
virtual void mouseMoveCallback(float x, float y);
virtual void mouseButtonCallback(int button, int state, float x, float y);
};
#endif //EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H