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small refactor of LinkVisualShapesConverter / TinyRendererVisualShapeConverter, it allows to use it in a Python module and in a PyBullet plugin.

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This commit is contained in:
erwincoumans
2018-01-16 17:58:19 -08:00
parent 32d615565d
commit df89ce6f92
7 changed files with 260 additions and 155 deletions
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67
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -49,6 +49,14 @@ struct TinyRendererObjectArray
btAlignedObjectArray< TinyRenderObjectData*> m_renderObjects;
int m_objectUniqueId;
int m_linkIndex;
btTransform m_worldTransform;
btVector3 m_localScaling;
TinyRendererObjectArray()
{
m_worldTransform.setIdentity();
m_localScaling.setValue(1,1,1);
}
};
#define START_WIDTH 640
@@ -57,7 +65,7 @@ struct TinyRendererObjectArray
struct TinyRendererVisualShapeConverterInternalData
{
btHashMap<btHashPtr,TinyRendererObjectArray*> m_swRenderInstances;
btHashMap<btHashInt,TinyRendererObjectArray*> m_swRenderInstances;
btAlignedObjectArray<b3VisualShapeData> m_visualShapes;
@@ -542,7 +550,7 @@ static btVector4 sColors[4] =
void TinyRendererVisualShapeConverter::convertVisualShapes(
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model,
class btCollisionObject* colObj, int bodyUniqueId)
int shapeUid, int bodyUniqueId)
{
btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
if (linkPtr)
@@ -579,15 +587,16 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
int colorIndex = colObj? colObj->getBroadphaseHandle()->getUid() & 3 : 0;
int colorIndex = linkIndex;//colObj? colObj->getBroadphaseHandle()->getUid() & 3 : 0;
if (colorIndex<0)
colorIndex=0;
btVector4 color;
color = sColors[colorIndex];
float rgbaColor[4] = {color[0],color[1],color[2],color[3]};
if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
{
color.setValue(1,1,1,1);
}
//if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
//{
// color.setValue(1,1,1,1);
//}
if (model)
{
if (useVisual)
@@ -618,12 +627,12 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
}
}
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[colObj];
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[shapeUid];
if (visualsPtr==0)
{
m_data->m_swRenderInstances.insert(colObj,new TinyRendererObjectArray);
m_data->m_swRenderInstances.insert(shapeUid,new TinyRendererObjectArray);
}
visualsPtr = m_data->m_swRenderInstances[colObj];
visualsPtr = m_data->m_swRenderInstances[shapeUid];
btAssert(visualsPtr);
TinyRendererObjectArray* visuals = *visualsPtr;
@@ -822,6 +831,19 @@ void TinyRendererVisualShapeConverter::render()
render(viewMat,projMat);
}
void TinyRendererVisualShapeConverter::syncTransform(int shapeUid, const btTransform& worldTransform, const btVector3& localScaling)
{
TinyRendererObjectArray** renderObjPtr = m_data->m_swRenderInstances[shapeUid];
if (renderObjPtr)
{
TinyRendererObjectArray* renderObj = *renderObjPtr;
renderObj->m_worldTransform = worldTransform;
renderObj->m_localScaling = localScaling;
}
}
void TinyRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16])
{
//clear the color buffer
@@ -902,11 +924,6 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
continue;//can this ever happen?
TinyRendererObjectArray* visualArray = *visualArrayPtr;
btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(n);
const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
for (int v=0;v<visualArray->m_renderObjects.size();v++)
{
@@ -914,7 +931,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
//sync the object transform
const btTransform& tr = colObj->getWorldTransform();
const btTransform& tr = visualArray->m_worldTransform;
tr.getOpenGLMatrix(modelMat);
for (int i=0;i<4;i++)
@@ -927,7 +944,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
}
}
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
renderObj->m_localScaling = visualArray->m_localScaling;
renderObj->m_lightDirWorld = lightDirWorld;
renderObj->m_lightColor = lightColor;
renderObj->m_lightDistance = lightDistance;
@@ -946,10 +963,6 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
continue;//can this ever happen?
TinyRendererObjectArray* visualArray = *visualArrayPtr;
btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(n);
const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
for (int v=0;v<visualArray->m_renderObjects.size();v++)
{
@@ -958,7 +971,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
//sync the object transform
const btTransform& tr = colObj->getWorldTransform();
const btTransform& tr = visualArray->m_worldTransform;
tr.getOpenGLMatrix(modelMat);
for (int i=0;i<4;i++)
@@ -971,7 +984,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
}
}
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
renderObj->m_localScaling = visualArray->m_localScaling;
renderObj->m_lightDirWorld = lightDirWorld;
renderObj->m_lightColor = lightColor;
renderObj->m_lightDistance = lightDistance;
@@ -1096,9 +1109,9 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
}
}
void TinyRendererVisualShapeConverter::removeVisualShape(class btCollisionObject* colObj)
void TinyRendererVisualShapeConverter::removeVisualShape(int shapeUid)
{
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[colObj];
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[shapeUid];
if (ptrptr && *ptrptr)
{
TinyRendererObjectArray* ptr = *ptrptr;
@@ -1110,7 +1123,7 @@ void TinyRendererVisualShapeConverter::removeVisualShape(class btCollisionObject
}
}
delete ptr;
m_data->m_swRenderInstances.remove(colObj);
m_data->m_swRenderInstances.remove(shapeUid);
}
}