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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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4
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -21,7 +21,7 @@
#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h" #include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
#include "../ImportMeshUtility/b3ImportMeshUtility.h" #include "../ImportMeshUtility/b3ImportMeshUtility.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h" #include "BulletCollision/CollisionShapes/btBoxShape.h"
@@ -2277,7 +2277,7 @@ void BulletMJCFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex,
if (m_data->m_customVisualShapesConverter) if (m_data->m_customVisualShapesConverter)
{ {
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, urdfIndex); const UrdfLink* link = m_data->getLink(m_data->m_activeModel, urdfIndex);
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,inertialFrame, link, 0, colObj, objectIndex); m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,inertialFrame, link, 0, colObj->getBroadphaseHandle()->getUid(), objectIndex);
} }
} }

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -1248,7 +1248,7 @@ void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex,
UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex); UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
if (linkPtr) if (linkPtr)
{ {
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj, bodyUniqueId); m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
} }
} }
} }

41
examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
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@@ -8,9 +8,46 @@ class btCollisionObject;
struct LinkVisualShapesConverter struct LinkVisualShapesConverter
{ {
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, class btCollisionObject* colShape, int objectIndex) =0; virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex) =0;
virtual void removeVisualShape(class btCollisionObject* colObj)=0; virtual void removeVisualShape(int shapeUid)=0;
virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0;
virtual int getNumVisualShapes(int bodyUniqueId)=0;
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0;
virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])=0;
virtual void setUpAxis(int axis)=0;
virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)=0;
virtual void clearBuffers(struct TGAColor& clearColor)=0;
virtual void resetAll()=0;
virtual void getWidthAndHeight(int& width, int& height)=0;
virtual void setWidthAndHeight(int width, int height)=0;
virtual void setLightDirection(float x, float y, float z)=0;
virtual void setLightColor(float x, float y, float z)=0;
virtual void setLightDistance(float dist)=0;
virtual void setLightAmbientCoeff(float ambientCoeff)=0;
virtual void setLightDiffuseCoeff(float diffuseCoeff)=0;
virtual void setLightSpecularCoeff(float specularCoeff)=0;
virtual void setShadow(bool hasShadow)=0;
virtual void setFlags(int flags)=0;
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)=0;
virtual void render()=0;
virtual void render(const float viewMat[16], const float projMat[16])=0;
virtual int loadTextureFile(const char* filename)=0;
virtual int registerTexture(unsigned char* texels, int width, int height)=0;
virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)=0;
}; };

4
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -566,7 +566,9 @@ void ConvertURDF2BulletInternal(
} }
} else } else
{ {
//u2b.convertLinkVisualShapes2(urdfLinkIndex,urdfIndex,pathPrefix,localInertialFrame,compoundShape); int mbLinkIndex =cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
//u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame, col, u2b.getBodyUniqueId());
u2b.convertLinkVisualShapes2(-1,urdfLinkIndex,pathPrefix,localInertialFrame,linkRigidBody,u2b.getBodyUniqueId());
} }
} }

247
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1564,7 +1564,8 @@ struct PhysicsServerCommandProcessorInternalData
btVector3 m_hitPos; btVector3 m_hitPos;
btScalar m_oldPickingDist; btScalar m_oldPickingDist;
bool m_prevCanSleep; bool m_prevCanSleep;
TinyRendererVisualShapeConverter m_visualConverter; TinyRendererVisualShapeConverter m_tempVisualConverter;//we may move this into a plugin
LinkVisualShapesConverter* m_visualConverterPtr;
#ifdef B3_ENABLE_TINY_AUDIO #ifdef B3_ENABLE_TINY_AUDIO
b3SoundEngine m_soundEngine; b3SoundEngine m_soundEngine;
#endif #endif
@@ -1598,7 +1599,7 @@ struct PhysicsServerCommandProcessorInternalData
m_pickingMultiBodyPoint2Point(0) m_pickingMultiBodyPoint2Point(0)
{ {
m_visualConverterPtr=&m_tempVisualConverter;
{ {
//register static plugins: //register static plugins:
@@ -2120,7 +2121,10 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
//UrdfVisual vis; //UrdfVisual vis;
//link.m_visualArray.push_back(vis); //link.m_visualArray.push_back(vis);
//UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex); //UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
m_data->m_visualConverter.convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, &link, &model, colObj, bodyUniqueId); if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, &link, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
}
} }
virtual void setBodyUniqueId(int bodyId) virtual void setBodyUniqueId(int bodyId)
{ {
@@ -2704,7 +2708,7 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
m_data->m_sdfRecentLoadedBodies.clear(); m_data->m_sdfRecentLoadedBodies.clear();
BulletMJCFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, flags); BulletMJCFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, flags);
bool useFixedBase = false; bool useFixedBase = false;
MyMJCFLogger2 logger; MyMJCFLogger2 logger;
@@ -2727,7 +2731,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
m_data->m_sdfRecentLoadedBodies.clear(); m_data->m_sdfRecentLoadedBodies.clear();
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling, flags); BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer); u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool forceFixedBase = false; bool forceFixedBase = false;
@@ -2759,7 +2763,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling, flags); BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer); u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool loadOk = u2b.loadURDF(fileName, useFixedBase); bool loadOk = u2b.loadURDF(fileName, useFixedBase);
@@ -3076,15 +3080,21 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
if ((clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) && if ((clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) &&
(clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0) (clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0)
{ {
m_data->m_visualConverter.setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth, if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
clientCmd.m_requestPixelDataArguments.m_pixelHeight); clientCmd.m_requestPixelDataArguments.m_pixelHeight);
}
} }
int flags = 0; int flags = 0;
if (clientCmd.m_updateFlags&REQUEST_PIXEL_ARGS_HAS_FLAGS) if (clientCmd.m_updateFlags&REQUEST_PIXEL_ARGS_HAS_FLAGS)
{ {
flags = clientCmd.m_requestPixelDataArguments.m_flags; flags = clientCmd.m_requestPixelDataArguments.m_flags;
} }
m_data->m_visualConverter.setFlags(flags); if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->setFlags(flags);
}
int numTotalPixels = width*height; int numTotalPixels = width*height;
int numRemainingPixels = numTotalPixels - startPixelIndex; int numRemainingPixels = numTotalPixels - startPixelIndex;
@@ -3158,82 +3168,92 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
} }
if (!handled) if (!handled)
{ {
if (m_data->m_visualConverterPtr)
if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
{ {
// printf("-------------------------------\nRendering\n"); if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
{
// printf("-------------------------------\nRendering\n");
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION) != 0) if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION) != 0)
{
m_data->m_visualConverter.setLightDirection(clientCmd.m_requestPixelDataArguments.m_lightDirection[0], clientCmd.m_requestPixelDataArguments.m_lightDirection[1], clientCmd.m_requestPixelDataArguments.m_lightDirection[2]);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR) != 0)
{
m_data->m_visualConverter.setLightColor(clientCmd.m_requestPixelDataArguments.m_lightColor[0], clientCmd.m_requestPixelDataArguments.m_lightColor[1], clientCmd.m_requestPixelDataArguments.m_lightColor[2]);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE) != 0)
{
m_data->m_visualConverter.setLightDistance(clientCmd.m_requestPixelDataArguments.m_lightDistance);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SHADOW) != 0)
{
m_data->m_visualConverter.setShadow((clientCmd.m_requestPixelDataArguments.m_hasShadow!=0));
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF) != 0)
{
m_data->m_visualConverter.setLightAmbientCoeff(clientCmd.m_requestPixelDataArguments.m_lightAmbientCoeff);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF) != 0)
{
m_data->m_visualConverter.setLightDiffuseCoeff(clientCmd.m_requestPixelDataArguments.m_lightDiffuseCoeff);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF) != 0)
{
m_data->m_visualConverter.setLightSpecularCoeff(clientCmd.m_requestPixelDataArguments.m_lightSpecularCoeff);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
{
m_data->m_visualConverter.render(
clientCmd.m_requestPixelDataArguments.m_viewMatrix,
clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
} else
{
b3OpenGLVisualizerCameraInfo tmpCamResult;
bool result = this->m_data->m_guiHelper->getCameraInfo(
&tmpCamResult.m_width,
&tmpCamResult.m_height,
tmpCamResult.m_viewMatrix,
tmpCamResult.m_projectionMatrix,
tmpCamResult.m_camUp,
tmpCamResult.m_camForward,
tmpCamResult.m_horizontal,
tmpCamResult.m_vertical,
&tmpCamResult.m_yaw,
&tmpCamResult.m_pitch,
&tmpCamResult.m_dist,
tmpCamResult.m_target);
if (result)
{ {
m_data->m_visualConverter.render(tmpCamResult.m_viewMatrix, m_data->m_visualConverterPtr->setLightDirection(clientCmd.m_requestPixelDataArguments.m_lightDirection[0], clientCmd.m_requestPixelDataArguments.m_lightDirection[1], clientCmd.m_requestPixelDataArguments.m_lightDirection[2]);
tmpCamResult.m_projectionMatrix); }
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR) != 0)
{
m_data->m_visualConverterPtr->setLightColor(clientCmd.m_requestPixelDataArguments.m_lightColor[0], clientCmd.m_requestPixelDataArguments.m_lightColor[1], clientCmd.m_requestPixelDataArguments.m_lightColor[2]);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE) != 0)
{
m_data->m_visualConverterPtr->setLightDistance(clientCmd.m_requestPixelDataArguments.m_lightDistance);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SHADOW) != 0)
{
m_data->m_visualConverterPtr->setShadow((clientCmd.m_requestPixelDataArguments.m_hasShadow!=0));
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF) != 0)
{
m_data->m_visualConverterPtr->setLightAmbientCoeff(clientCmd.m_requestPixelDataArguments.m_lightAmbientCoeff);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF) != 0)
{
m_data->m_visualConverterPtr->setLightDiffuseCoeff(clientCmd.m_requestPixelDataArguments.m_lightDiffuseCoeff);
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF) != 0)
{
m_data->m_visualConverterPtr->setLightSpecularCoeff(clientCmd.m_requestPixelDataArguments.m_lightSpecularCoeff);
}
for (int i=0;i<m_data->m_dynamicsWorld->getNumCollisionObjects();i++)
{
const btCollisionObject* colObj = m_data->m_dynamicsWorld->getCollisionObjectArray()[i];
m_data->m_visualConverterPtr->syncTransform(colObj->getBroadphaseHandle()->getUid(),colObj->getWorldTransform(),colObj->getCollisionShape()->getLocalScaling());
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
{
m_data->m_visualConverterPtr->render(
clientCmd.m_requestPixelDataArguments.m_viewMatrix,
clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
} else } else
{ {
m_data->m_visualConverter.render(); b3OpenGLVisualizerCameraInfo tmpCamResult;
bool result = this->m_data->m_guiHelper->getCameraInfo(
&tmpCamResult.m_width,
&tmpCamResult.m_height,
tmpCamResult.m_viewMatrix,
tmpCamResult.m_projectionMatrix,
tmpCamResult.m_camUp,
tmpCamResult.m_camForward,
tmpCamResult.m_horizontal,
tmpCamResult.m_vertical,
&tmpCamResult.m_yaw,
&tmpCamResult.m_pitch,
&tmpCamResult.m_dist,
tmpCamResult.m_target);
if (result)
{
m_data->m_visualConverterPtr->render(tmpCamResult.m_viewMatrix,tmpCamResult.m_projectionMatrix);
} else
{
m_data->m_visualConverterPtr->render();
}
} }
} }
} }
m_data->m_visualConverter.copyCameraImageData(pixelRGBA,numRequestedPixels, if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->copyCameraImageData(pixelRGBA,numRequestedPixels,
depthBuffer,numRequestedPixels, depthBuffer,numRequestedPixels,
segmentationMaskBuffer, numRequestedPixels, segmentationMaskBuffer, numRequestedPixels,
startPixelIndex,&width,&height,&numPixelsCopied); startPixelIndex,&width,&height,&numPixelsCopied);
}
m_data->m_guiHelper->debugDisplayCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix, m_data->m_guiHelper->debugDisplayCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,
clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels, clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels,
@@ -3869,7 +3889,7 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
serverStatusOut.m_type = CMD_CREATE_VISUAL_SHAPE_FAILED; serverStatusOut.m_type = CMD_CREATE_VISUAL_SHAPE_FAILED;
double globalScaling = 1.f; double globalScaling = 1.f;
int flags=0; int flags=0;
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling, flags); BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer); u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
btTransform localInertiaFrame; btTransform localInertiaFrame;
localInertiaFrame.setIdentity(); localInertiaFrame.setIdentity();
@@ -7430,7 +7450,10 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
if (bodyHandle->m_multiBody->getBaseCollider()) if (bodyHandle->m_multiBody->getBaseCollider())
{ {
m_data->m_visualConverter.removeVisualShape(bodyHandle->m_multiBody->getBaseCollider()); if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->removeVisualShape(bodyHandle->m_multiBody->getBaseCollider()->getBroadphaseHandle()->getUid());
}
m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getBaseCollider()); m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getBaseCollider());
int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex(); int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex); m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
@@ -7440,7 +7463,10 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
if (bodyHandle->m_multiBody->getLink(link).m_collider) if (bodyHandle->m_multiBody->getLink(link).m_collider)
{ {
m_data->m_visualConverter.removeVisualShape(bodyHandle->m_multiBody->getLink(link).m_collider); if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->removeVisualShape(bodyHandle->m_multiBody->getLink(link).m_collider->getBroadphaseHandle()->getUid());
}
m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getLink(link).m_collider); m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getLink(link).m_collider);
int graphicsIndex = bodyHandle->m_multiBody->getLink(link).m_collider->getUserIndex(); int graphicsIndex = bodyHandle->m_multiBody->getLink(link).m_collider->getUserIndex();
m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex); m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
@@ -7457,7 +7483,10 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
} }
if (bodyHandle->m_rigidBody) if (bodyHandle->m_rigidBody)
{ {
m_data->m_visualConverter.removeVisualShape(bodyHandle->m_rigidBody); if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->removeVisualShape(bodyHandle->m_rigidBody->getBroadphaseHandle()->getUid());
}
serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId; serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
if (m_data->m_pickedConstraint && m_data->m_pickedBody==bodyHandle->m_rigidBody) if (m_data->m_pickedConstraint && m_data->m_pickedBody==bodyHandle->m_rigidBody)
@@ -8372,24 +8401,27 @@ bool PhysicsServerCommandProcessor::processRequestVisualShapeInfoCommand(const s
serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_FAILED; serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_FAILED;
//retrieve the visual shape information for a specific body //retrieve the visual shape information for a specific body
int totalNumVisualShapes = m_data->m_visualConverter.getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId); if (m_data->m_visualConverterPtr)
//int totalBytesPerVisualShape = sizeof (b3VisualShapeData); {
//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1; int totalNumVisualShapes = m_data->m_visualConverterPtr->getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient; //int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient;
int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex; int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
int shapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex; int shapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
int success = m_data->m_visualConverter.getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId, int success = m_data->m_visualConverterPtr->getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId,
shapeIndex, shapeIndex,
visualShapeStoragePtr); visualShapeStoragePtr);
if (success) { if (success) {
serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = remain-1; serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = remain-1;
serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1; serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1;
serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex; serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId = clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId; serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId = clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId;
serverCmd.m_numDataStreamBytes = sizeof(b3VisualShapeData)*serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied; serverCmd.m_numDataStreamBytes = sizeof(b3VisualShapeData)*serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied;
serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_COMPLETED; serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_COMPLETED;
}
} }
return hasStatus; return hasStatus;
} }
@@ -8412,7 +8444,10 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
{ {
if (texHandle) if (texHandle)
{ {
m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId); if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId);
}
} }
} }
} }
@@ -8441,7 +8476,10 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
} }
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{ {
m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->changeRGBAColor(bodyUniqueId,linkIndex,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)
@@ -8467,7 +8505,10 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
} }
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{ {
m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->changeRGBAColor(bodyUniqueId,linkIndex,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)
@@ -8493,7 +8534,10 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
} }
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{ {
m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->changeRGBAColor(bodyUniqueId,linkIndex,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)
@@ -8550,7 +8594,11 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share
texH->m_tinyRendererTextureId = -1; texH->m_tinyRendererTextureId = -1;
texH->m_openglTextureId = -1; texH->m_openglTextureId = -1;
int uid = m_data->m_visualConverter.loadTextureFile(relativeFileName); int uid = -1;
if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->loadTextureFile(relativeFileName);
}
if(uid>=0) if(uid>=0)
{ {
texH->m_tinyRendererTextureId = uid; texH->m_tinyRendererTextureId = uid;
@@ -9519,7 +9567,10 @@ void PhysicsServerCommandProcessor::resetSimulation()
} }
if (m_data) if (m_data)
{ {
m_data->m_visualConverter.resetAll(); if (m_data->m_visualConverterPtr)
{
m_data->m_visualConverterPtr->resetAll();
}
for (int i = 0; i < m_data->m_savedStates.size(); i++) for (int i = 0; i < m_data->m_savedStates.size(); i++)
{ {
delete m_data->m_savedStates[i].m_bulletFile; delete m_data->m_savedStates[i].m_bulletFile;

67
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -49,6 +49,14 @@ struct TinyRendererObjectArray
btAlignedObjectArray< TinyRenderObjectData*> m_renderObjects; btAlignedObjectArray< TinyRenderObjectData*> m_renderObjects;
int m_objectUniqueId; int m_objectUniqueId;
int m_linkIndex; int m_linkIndex;
btTransform m_worldTransform;
btVector3 m_localScaling;
TinyRendererObjectArray()
{
m_worldTransform.setIdentity();
m_localScaling.setValue(1,1,1);
}
}; };
#define START_WIDTH 640 #define START_WIDTH 640
@@ -57,7 +65,7 @@ struct TinyRendererObjectArray
struct TinyRendererVisualShapeConverterInternalData struct TinyRendererVisualShapeConverterInternalData
{ {
btHashMap<btHashPtr,TinyRendererObjectArray*> m_swRenderInstances; btHashMap<btHashInt,TinyRendererObjectArray*> m_swRenderInstances;
btAlignedObjectArray<b3VisualShapeData> m_visualShapes; btAlignedObjectArray<b3VisualShapeData> m_visualShapes;
@@ -542,7 +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,
class btCollisionObject* colObj, int bodyUniqueId) int shapeUid, 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)
@@ -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; btVector4 color;
color = sColors[colorIndex]; color = sColors[colorIndex];
float rgbaColor[4] = {color[0],color[1],color[2],color[3]}; float rgbaColor[4] = {color[0],color[1],color[2],color[3]};
if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE) //if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
{ //{
color.setValue(1,1,1,1); // color.setValue(1,1,1,1);
} //}
if (model) if (model)
{ {
if (useVisual) 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) 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); btAssert(visualsPtr);
TinyRendererObjectArray* visuals = *visualsPtr; TinyRendererObjectArray* visuals = *visualsPtr;
@@ -822,6 +831,19 @@ void TinyRendererVisualShapeConverter::render()
render(viewMat,projMat); 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]) void TinyRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16])
{ {
//clear the color buffer //clear the color buffer
@@ -902,11 +924,6 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
continue;//can this ever happen? continue;//can this ever happen?
TinyRendererObjectArray* visualArray = *visualArrayPtr; 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++) 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 //sync the object transform
const btTransform& tr = colObj->getWorldTransform(); const btTransform& tr = visualArray->m_worldTransform;
tr.getOpenGLMatrix(modelMat); tr.getOpenGLMatrix(modelMat);
for (int i=0;i<4;i++) 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_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_lightDirWorld = lightDirWorld;
renderObj->m_lightColor = lightColor; renderObj->m_lightColor = lightColor;
renderObj->m_lightDistance = lightDistance; renderObj->m_lightDistance = lightDistance;
@@ -946,10 +963,6 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
continue;//can this ever happen? continue;//can this ever happen?
TinyRendererObjectArray* visualArray = *visualArrayPtr; 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++) 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 //sync the object transform
const btTransform& tr = colObj->getWorldTransform(); const btTransform& tr = visualArray->m_worldTransform;
tr.getOpenGLMatrix(modelMat); tr.getOpenGLMatrix(modelMat);
for (int i=0;i<4;i++) 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_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_lightDirWorld = lightDirWorld;
renderObj->m_lightColor = lightColor; renderObj->m_lightColor = lightColor;
renderObj->m_lightDistance = lightDistance; 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) if (ptrptr && *ptrptr)
{ {
TinyRendererObjectArray* ptr = *ptrptr; TinyRendererObjectArray* ptr = *ptrptr;
@@ -1110,7 +1123,7 @@ void TinyRendererVisualShapeConverter::removeVisualShape(class btCollisionObject
} }
} }
delete ptr; delete ptr;
m_data->m_swRenderInstances.remove(colObj); m_data->m_swRenderInstances.remove(shapeUid);
} }
} }

50
examples/SharedMemory/TinyRendererVisualShapeConverter.h
View File

@@ -16,45 +16,47 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
virtual ~TinyRendererVisualShapeConverter(); virtual ~TinyRendererVisualShapeConverter();
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, class btCollisionObject* colShape, int objectIndex); virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
virtual int getNumVisualShapes(int bodyUniqueId); virtual int getNumVisualShapes(int bodyUniqueId);
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, const double rgbaColor[4]);
virtual void removeVisualShape(class btCollisionObject* colObj); virtual void removeVisualShape(int shapeUid);
void setUpAxis(int axis); virtual void setUpAxis(int axis);
void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ); virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
void clearBuffers(struct TGAColor& clearColor); virtual void clearBuffers(struct TGAColor& clearColor);
void resetAll(); virtual void resetAll();
void getWidthAndHeight(int& width, int& height); virtual void getWidthAndHeight(int& width, int& height);
void setWidthAndHeight(int width, int height); virtual void setWidthAndHeight(int width, int height);
void setLightDirection(float x, float y, float z); virtual void setLightDirection(float x, float y, float z);
void setLightColor(float x, float y, float z); virtual void setLightColor(float x, float y, float z);
void setLightDistance(float dist); virtual void setLightDistance(float dist);
void setLightAmbientCoeff(float ambientCoeff); virtual void setLightAmbientCoeff(float ambientCoeff);
void setLightDiffuseCoeff(float diffuseCoeff); virtual void setLightDiffuseCoeff(float diffuseCoeff);
void setLightSpecularCoeff(float specularCoeff); virtual void setLightSpecularCoeff(float specularCoeff);
void setShadow(bool hasShadow); virtual void setShadow(bool hasShadow);
void setFlags(int flags); virtual void setFlags(int flags);
void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied); virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
void render(); virtual void render();
void render(const float viewMat[16], const float projMat[16]); virtual void render(const float viewMat[16], const float projMat[16]);
int loadTextureFile(const char* filename); virtual int loadTextureFile(const char* filename);
int registerTexture(unsigned char* texels, int width, int height); virtual int registerTexture(unsigned char* texels, int width, int height);
void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId); virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
}; };