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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;
}

34
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -972,11 +972,31 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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);
}
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();
}
}
}
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;

21
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -495,9 +495,19 @@ 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
View File

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

31
examples/TinyRenderer/TinyRenderer.cpp
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@@ -12,7 +12,7 @@
#include "../OpenGLWindow/ShapeData.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
Vec3f light_dir_world(0,0,0);
struct Shader : public IShader {
@@ -20,9 +20,12 @@ struct Shader : public IShader {
Model* m_model;
Vec3f m_light_dir_local;
Matrix& m_modelMat;
Matrix m_invModelMat;
Matrix& m_modelView1;
Matrix& m_projectionMatrix;
Vec3f m_localScaling;
//Vec3f m_localNormal;
mat<2,3,float> varying_uv; // triangle uv coordinates, written by the vertex shader, read by the fragment shader
mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS
@@ -37,7 +40,7 @@ struct Shader : public IShader {
m_modelMat(modelMat),
m_localScaling(localScaling)
{
m_invModelMat = m_modelMat.invert_transpose();
}
virtual Vec4f vertex(int iface, int nthvert) {
@@ -47,10 +50,15 @@ struct Shader : public IShader {
varying_uv.set_col(nthvert, uv);
//varying_nrm.set_col(nthvert, proj<3>((m_projectionMatrix*m_modelView).invert_transpose()*embed<4>(m_model->normal(iface, nthvert), 0.f)));
varying_nrm.set_col(nthvert, proj<3>((m_modelMat).invert_transpose()*embed<4>(m_model->normal(iface, nthvert), 0.f)));
varying_nrm.set_col(nthvert, proj<3>(m_invModelMat*embed<4>(m_model->normal(iface, nthvert), 0.f)));
//m_localNormal = m_model->normal(iface, nthvert);
//varying_nrm.set_col(nthvert, m_model->normal(iface, nthvert));
Vec3f unScaledVert = m_model->vert(iface, nthvert);
Vec3f scaledVert=Vec3f(unScaledVert[0]*m_localScaling[0],unScaledVert[1]*m_localScaling[1],unScaledVert[2]*m_localScaling[2]);
Vec4f gl_Vertex = m_projectionMatrix*m_modelView1*embed<4>(scaledVert);
Vec4f gl_Vertex = m_projectionMatrix*m_modelView1*embed<4>(scaledVert);
varying_tri.set_col(nthvert, gl_Vertex);
//ndc_tri.set_col(nthvert, proj<3>(gl_Vertex/gl_Vertex[3]));
@@ -63,7 +71,8 @@ struct Shader : public IShader {
//float diff = 1;//full-bright
float ambient = 0.7;
float diff = ambient+b3Min(b3Max(0.f, bn*light_dir_world),(1-ambient));
//float diff = ambient+b3Min(b3Max(0.f, bn*light_dir_world),(1-ambient));
float diff = ambient+b3Min(b3Max(0.f, bn*m_light_dir_local),(1-ambient));
//float diff = b3Max(0.f, n*m_light_dir_local);
color = m_model->diffuse(uv)*diff;
@@ -222,7 +231,7 @@ TinyRenderObjectData::~TinyRenderObjectData()
void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
{
light_dir_world = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]);
Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]);
Model* model = renderData.m_model;
if (0==model)
return;
@@ -236,22 +245,20 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
renderData.m_viewportMatrix = viewport(0,0,renderData.m_width,renderData.m_height);
//renderData.m_projectionMatrix = projection(-1.f/(eye-center).norm());
b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
TGAImage& frame = renderData.m_rgbColorBuffer;
Vec3f light_dir_local = proj<3>((renderData.m_projectionMatrix*renderData.m_viewMatrix*renderData.m_modelMatrix*embed<4>(light_dir_world, 0.f))).normalize();
{
Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling);
for (int i=0; i<model->nfaces(); i++) {
printf("Render %d triangles.\n",model->nfaces());
for (int i=0; i<model->nfaces(); i++)
{
for (int j=0; j<3; j++) {
shader.vertex(i, j);