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enable planar reflection in MinitaurGymEnv

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enable follow cam in other Gym locomotion environments
add testing assets for multi-material obj files -> sdf conversion.
Also use ER_NO_SEGMENTATION_MASK flag for TinyRenderer/EGL plugin renderer
This commit is contained in:
erwincoumans
2018-10-14 15:10:19 -07:00
parent c1e20c448f
commit b5e475aec3
16 changed files with 544 additions and 6 deletions
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29
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -182,13 +182,14 @@ void TinyRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff
m_data->m_hasLightSpecularCoeff = true;
}
static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut, struct CommonFileIOInterface* fileIO)
static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut, struct CommonFileIOInterface* fileIO, int flags)
{
visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type;
visualShapeOut.m_dimensions[0] = 0;
visualShapeOut.m_dimensions[1] = 0;
visualShapeOut.m_dimensions[2] = 0;
memset(visualShapeOut.m_meshAssetFileName, 0, sizeof(visualShapeOut.m_meshAssetFileName));
#if 0
if (visual->m_geometry.m_hasLocalMaterial)
{
visualShapeOut.m_rgbaColor[0] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[0];
@@ -196,6 +197,7 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
visualShapeOut.m_rgbaColor[2] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[2];
visualShapeOut.m_rgbaColor[3] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[3];
}
#endif
GLInstanceGraphicsShape* glmesh = 0;
@@ -322,8 +324,26 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
{
//glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, fileIO))
{
if (flags&URDF_USE_MATERIAL_COLORS_FROM_MTL)
{
if (meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR)
{
visualShapeOut.m_rgbaColor[0] = meshData.m_rgbaColor[0];
visualShapeOut.m_rgbaColor[1] = meshData.m_rgbaColor[1];
visualShapeOut.m_rgbaColor[2] = meshData.m_rgbaColor[2];
if (flags&URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL)
{
visualShapeOut.m_rgbaColor[3] = meshData.m_rgbaColor[3];
} else
{
visualShapeOut.m_rgbaColor[3] = 1;
}
}
}
if (meshData.m_textureImage1)
{
MyTexture2 texData;
@@ -665,9 +685,14 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
{
B3_PROFILE("convertURDFToVisualShape");
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO);
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO, m_data->m_flags);
}
rgbaColor[0] = visualShape.m_rgbaColor[0];
rgbaColor[1] = visualShape.m_rgbaColor[1];
rgbaColor[2] = visualShape.m_rgbaColor[2];
rgbaColor[3] = visualShape.m_rgbaColor[3];
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, linkIndex);