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further work on urdfEditor.py, fix some serialization issues

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This commit is contained in:
Erwin Coumans
2018-01-08 12:25:56 -08:00
parent a85a4f387b
commit e97b751781
23 changed files with 1926 additions and 1455 deletions
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34
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -1527,6 +1527,7 @@ void GLInstancingRenderer::renderScene()
renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
//glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
//renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE_REFLECTION);
renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
} else
@@ -1960,8 +1961,15 @@ struct TransparentDistanceSortPredicate
}
};
void GLInstancingRenderer::renderSceneInternal(int renderMode)
void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
{
int renderMode=orgRenderMode;
bool reflectionPass = false;
if (orgRenderMode==B3_USE_SHADOWMAP_RENDERMODE_REFLECTION)
{
reflectionPass = true;
renderMode = B3_USE_SHADOWMAP_RENDERMODE;
}
if (!useShadowMap)
{
@@ -2385,9 +2393,10 @@ b3Assert(glGetError() ==GL_NO_ERROR);
glUseProgram(useShadowMapInstancingShader);
glUniformMatrix4fv(useShadow_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
glUniformMatrix4fv(useShadow_ViewMatrixInverse, 1, false, &m_data->m_viewMatrixInverse[0]);
glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
//glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
//glUniformMatrix4fv(useShadow_ViewMatrixInverse, 1, false, &m_data->m_viewMatrix[0]);
//glUniformMatrix4fv(useShadow_ViewMatrixInverse, 1, false, &m_data->m_viewMatrixInverse[0]);
//glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
glUniform3f(useShadow_lightSpecularIntensity, m_data->m_lightSpecularIntensity[0],m_data->m_lightSpecularIntensity[1],m_data->m_lightSpecularIntensity[2]);
glUniform3f(useShadow_materialSpecularColor, gfxObj->m_materialSpecularColor[0],gfxObj->m_materialSpecularColor[1],gfxObj->m_materialSpecularColor[2]);
@@ -2395,7 +2404,22 @@ b3Assert(glGetError() ==GL_NO_ERROR);
float MVP[16];
b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,MVP);
if (reflectionPass)
{
float tmp[16];
float reflectionMatrix[16] = {1,0,0,0,
0,1,0,0,
0,0,-1,0,
0,0,0,1};
glCullFace(GL_FRONT);
b3Matrix4x4Mul16(m_data->m_viewMatrix,reflectionMatrix,tmp);
b3Matrix4x4Mul16(m_data->m_projectionMatrix,tmp,MVP);
} else
{
b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,MVP);
glCullFace(GL_BACK);
}
glUniformMatrix4fv(useShadow_MVP, 1, false, &MVP[0]);
//gLightDir.normalize();
glUniform3f(useShadow_lightPosIn,m_data->m_lightPos[0],m_data->m_lightPos[1],m_data->m_lightPos[2]);

2
examples/OpenGLWindow/GLInstancingRenderer.h
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@@ -52,7 +52,7 @@ public:
virtual void init();
virtual void renderScene();
virtual void renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE);
virtual void renderSceneInternal(int orgRenderMode=B3_DEFAULT_RENDERMODE);
void InitShaders();
void CleanupShaders();

2
examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl
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@@ -11,8 +11,6 @@ layout (location = 5) in vec4 instance_color;
layout (location = 6) in vec3 instance_scale;
uniform mat4 ModelViewMatrix;
uniform mat4 ProjectionMatrix;
uniform mat4 DepthBiasModelViewProjectionMatrix;
uniform mat4 MVP;
uniform vec3 lightPosIn;

2
examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h
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@@ -9,8 +9,6 @@ static const char* useShadowMapInstancingVertexShader= \
"layout (location = 4) in vec3 vertexnormal;\n"
"layout (location = 5) in vec4 instance_color;\n"
"layout (location = 6) in vec3 instance_scale;\n"
"uniform mat4 ModelViewMatrix;\n"
"uniform mat4 ProjectionMatrix;\n"
"uniform mat4 DepthBiasModelViewProjectionMatrix;\n"
"uniform mat4 MVP;\n"
"uniform vec3 lightPosIn;\n"