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pybullet.getCameraImage: preparation to expose link index in segmentation mask buffer

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This commit is contained in:
Erwin Coumans
2017-12-28 10:18:35 -08:00
parent 78e4d9675e
commit afd1066c50
7 changed files with 30 additions and 14 deletions
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7
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -940,8 +940,11 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
btVector4(32,255,255,255)};
if (segmentationMask>=0)
{
btVector4 rgb = palette[segmentationMask&3];
m_canvas->setPixel(m_canvasSegMaskIndex,i,j,
int obIndex = segmentationMask&(0x1e24-1);
int linkIndex = (segmentationMask>>24)-1;
btVector4 rgb = palette[(obIndex+linkIndex)&3];
m_canvas->setPixel(m_canvasSegMaskIndex,i,j,
rgb.x(),
rgb.y(),
rgb.z(), 255); //alpha set to 255

6
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -2169,7 +2169,11 @@ void PhysicsServerExample::updateGraphics()
btVector4(32,255,255,255)};
if (segmentationMask>=0)
{
btVector4 rgb = palette[segmentationMask&3];
int obIndex = segmentationMask&(0x1e24-1);
int linkIndex = (segmentationMask>>24)-1;
btVector4 rgb = palette[(obIndex+linkIndex)&3];
m_canvas->setPixel(m_canvasSegMaskIndex,i,j,
rgb.x(),
rgb.y(),

2
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -629,7 +629,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
if (vertices.size() && indices.size())
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId);
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId, linkIndex);
unsigned char* textureImage1=0;
int textureWidth=0;
int textureHeight=0;