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add texture support in SDF, URDF for both OpenGL and software renderer (TinyRenderer)

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This commit is contained in:
Erwin Coumans
2016-06-18 18:02:20 -07:00
parent 6369e3e12a
commit e3b2b1a969
8 changed files with 143 additions and 62 deletions
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60
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -28,7 +28,7 @@ subject to the following restrictions:
#include "../Utils/b3ResourcePath.h"
#include "../TinyRenderer/TinyRenderer.h"
#include "../OpenGLWindow/SimpleCamera.h"
#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
#include <iostream>
#include <fstream>
#include "../Importers/ImportURDFDemo/UrdfParser.h"
@@ -41,6 +41,13 @@ enum MyFileType
MY_FILE_OBJ=3,
};
struct MyTexture2
{
unsigned char* textureData;
int m_width;
int m_height;
};
struct TinyRendererObjectArray
{
btAlignedObjectArray< TinyRenderObjectData*> m_renderObjects;
@@ -95,7 +102,7 @@ TinyRendererVisualShapeConverter::~TinyRendererVisualShapeConverter()
void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut)
{
@@ -201,7 +208,23 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
{
case MY_FILE_OBJ:
{
glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
//glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fullPath, meshData))
{
if (meshData.m_textureImage)
{
MyTexture2 texData;
texData.m_width = meshData.m_textureWidth;
texData.m_height = meshData.m_textureHeight;
texData.textureData = meshData.m_textureImage;
texturesOut.push_back(texData);
}
glmesh = meshData.m_gfxShape;
}
break;
}
@@ -420,11 +443,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionObject* colObj)
{
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
int graphicsIndex = -1;
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
if (linkPtr)
{
@@ -433,6 +452,12 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
for (int v = 0; v < link->m_visualArray.size();v++)
{
btAlignedObjectArray<MyTexture2> textures;
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
int graphicsIndex = -1;
const UrdfVisual& vis = link->m_visualArray[v];
btTransform childTrans = vis.m_linkLocalFrame;
btHashString matName(vis.m_materialName.c_str());
@@ -458,14 +483,29 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
btAssert(visualsPtr);
TinyRendererObjectArray* visuals = *visualsPtr;
convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices);
convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures);
if (vertices.size() && indices.size())
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer);
tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor);
unsigned char* textureImage=0;
int textureWidth=0;
int textureHeight=0;
if (textures.size())
{
textureImage = textures[0].textureData;
textureWidth = textures[0].m_width;
textureHeight = textures[0].m_height;
}
tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor,
textureImage,textureWidth,textureHeight);
visuals->m_renderObjects.push_back(tinyObj);
}
for (int i=0;i<textures.size();i++)
{
delete textures[i].textureData;
}
}
}
}