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pybullet: allow to replace existing text, to avoid flickering (remove/add)

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allow texture caching (disable using the disable file caching)
This commit is contained in:
erwincoumans
2017-10-25 08:15:01 -07:00
parent e9415f5912
commit ed8de36ffa
17 changed files with 256 additions and 88 deletions
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30
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -38,9 +38,10 @@ subject to the following restrictions:
struct MyTexture2
{
unsigned char* textureData;
unsigned char* textureData1;
int m_width;
int m_height;
bool m_isCached;
};
struct TinyRendererObjectArray
@@ -308,12 +309,13 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
{
if (meshData.m_textureImage)
if (meshData.m_textureImage1)
{
MyTexture2 texData;
texData.m_width = meshData.m_textureWidth;
texData.m_height = meshData.m_textureHeight;
texData.textureData = meshData.m_textureImage;
texData.textureData1 = meshData.m_textureImage1;
texData.m_isCached = meshData.m_isCached;
texturesOut.push_back(texData);
}
glmesh = meshData.m_gfxShape;
@@ -628,27 +630,32 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
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);
unsigned char* textureImage=0;
unsigned char* textureImage1=0;
int textureWidth=0;
int textureHeight=0;
bool isCached = false;
if (textures.size())
{
textureImage = textures[0].textureData;
textureImage1 = textures[0].textureData1;
textureWidth = textures[0].m_width;
textureHeight = textures[0].m_height;
isCached = textures[0].m_isCached;
}
{
B3_PROFILE("registerMeshShape");
tinyObj->registerMeshShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), rgbaColor,
textureImage, textureWidth, textureHeight);
textureImage1, textureWidth, textureHeight);
}
visuals->m_renderObjects.push_back(tinyObj);
}
for (int i=0;i<textures.size();i++)
{
free(textures[i].textureData);
if (!textures[i].m_isCached)
{
free(textures[i].textureData1);
}
}
}
}
@@ -1090,7 +1097,10 @@ void TinyRendererVisualShapeConverter::resetAll()
for (int i=0;i<m_data->m_textures.size();i++)
{
free(m_data->m_textures[i].textureData);
if (!m_data->m_textures[i].m_isCached)
{
free(m_data->m_textures[i].textureData1);
}
}
m_data->m_textures.clear();
m_data->m_swRenderInstances.clear();
@@ -1117,7 +1127,7 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId,
TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v];
if ((shapeIndex < 0) || (shapeIndex == v))
{
renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData1, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
}
}
}
@@ -1131,7 +1141,7 @@ int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int
MyTexture2 texData;
texData.m_width = width;
texData.m_height = height;
texData.textureData = texels;
texData.textureData1 = texels;
m_data->m_textures.push_back(texData);
return m_data->m_textures.size()-1;
}