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more work on synthetic camera

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This commit is contained in:
erwin coumans
2016-06-01 11:04:10 -07:00
parent f469a2cb49
commit ef85a71d4b
7 changed files with 95 additions and 31 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -687,13 +687,22 @@ b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physC
b3Assert(command);
command->m_type =CMD_REQUEST_CAMERA_IMAGE_DATA;
command->m_requestPixelDataArguments.m_startPixelIndex = 0;
command->m_updateFlags = REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL;
return (b3SharedMemoryCommandHandle) command;
}
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16])
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[16], float projectionMatrix[16])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
for (int i=0;i<16;i++)
{
command->m_requestPixelDataArguments.m_projectionMatrix[i] = projectionMatrix[i];
command->m_requestPixelDataArguments.m_viewMatrix[i] = viewMatrix[i];
}
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData)

8
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -246,8 +246,12 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
//void b3RequestCameraImageSetResolution(b3SharedMemoryCommandHandle command, int pixelWidth, int pixelHeight);
//void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
float viewMatrix[16];
float projectionMatrix[16];
this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}

36
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -971,12 +971,32 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int startPixelIndex = clientCmd.m_requestPixelDataArguments.m_startPixelIndex;
int width, height;
int numPixelsCopied = 0;
if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL)!=0)
{
m_data->m_visualConverter.render();
m_data->m_guiHelper->copyCameraImageData(0,0,0,0,0,&width,&height,0);
}
//else
{
if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
{
printf("-------------------------------\nRendering\n");
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
{
m_data->m_visualConverter.render();
}
}
}
m_data->m_guiHelper->copyCameraImageData(0,0,0,0,0,&width,&height,0);
int numTotalPixels = width*height;
int numRemainingPixels = numTotalPixels - startPixelIndex;
@@ -990,8 +1010,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
float* depthBuffer = (float*)(bufferServerToClient+numRequestedPixels*4);
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL)!=0)
{
m_data->m_guiHelper->copyCameraImageData(pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,&width,&height,&numPixelsCopied);
} else
{
}
m_data->m_guiHelper->copyCameraImageData(pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,&width,&height,&numPixelsCopied);
//each pixel takes 4 RGBA values and 1 float = 8 bytes
} else

12
examples/SharedMemory/SharedMemoryCommands.h
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@@ -115,9 +115,19 @@ struct RequestDebugLinesArgs
struct RequestPixelDataArgs
{
int m_startPixelIndex;
float m_viewMatrix[16];
float m_projectionMatrix[16];
int m_startPixelIndex;
};
enum EnumRequestPixelDataUpdateFlags
{
REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1,
REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL=2,
};
struct SendDebugLinesArgs
{
int m_startingLineIndex;

23
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -494,10 +494,20 @@ void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
}
}
void TinyRendererVisualShapeConverter::render()
{
ATTRIBUTE_ALIGNED16(float viewMat[16]);
ATTRIBUTE_ALIGNED16(float projMat[16]);
m_data->m_camera.getCameraProjectionMatrix(projMat);
m_data->m_camera.getCameraViewMatrix(viewMat);
render(viewMat,projMat);
}
void TinyRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16])
{
//clear the color buffer
TGAColor clearColor;
@@ -510,11 +520,7 @@ void TinyRendererVisualShapeConverter::render()
ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);
ATTRIBUTE_ALIGNED16(float viewMat[16]);
ATTRIBUTE_ALIGNED16(float projMat[16]);
m_data->m_camera.getCameraProjectionMatrix(projMat);
m_data->m_camera.getCameraViewMatrix(viewMat);
btVector3 lightDirWorld(-5,200,-40);
switch (m_data->m_upAxis)
@@ -530,7 +536,7 @@ void TinyRendererVisualShapeConverter::render()
lightDirWorld.normalize();
printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size());
for (int i=0;i<m_data->m_swRenderInstances.size();i++)
{
TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(i);
@@ -568,6 +574,7 @@ void TinyRendererVisualShapeConverter::render()
TinyRenderer::renderObject(*renderObj);
}
}
//printf("write tga \n");
m_data->m_rgbColorBuffer.write_tga_file("camera.tga");
}

1
examples/SharedMemory/TinyRendererVisualShapeConverter.h
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@@ -24,6 +24,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
void resetAll();
void render();
void render(const float viewMat[16], const float projMat[16]);
};