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update to tinyrenderer synthetic camera

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This commit is contained in:
erwin coumans
2016-05-31 22:55:13 -07:00
parent 14aa666c6f
commit f469a2cb49
20 changed files with 675 additions and 115 deletions
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18
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4,7 +4,7 @@
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Importers/ImportURDFDemo/DefaultVisualShapeConverter.h"
#include "TinyRendererVisualShapeConverter.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
@@ -288,7 +288,6 @@ struct PhysicsServerCommandProcessorInternalData
///handle management
btAlignedObjectArray<InternalBodyHandle> m_bodyHandles;
int m_numUsedHandles; // number of active handles
int m_firstFreeHandle; // free handles list
InternalBodyHandle* getHandle(int handle)
{
@@ -411,6 +410,7 @@ struct PhysicsServerCommandProcessorInternalData
btVector3 m_hitPos;
btScalar m_oldPickingDist;
bool m_prevCanSleep;
TinyRendererVisualShapeConverter m_visualConverter;
PhysicsServerCommandProcessorInternalData()
:
@@ -693,8 +693,8 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
}
DefaultVisualShapeConverter visualConverter(m_data->m_guiHelper);
BulletURDFImporter u2b(m_data->m_guiHelper, &visualConverter);
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
@@ -972,8 +972,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int width, height;
int numPixelsCopied = 0;
if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
{
m_data->m_visualConverter.render();
}
m_data->m_guiHelper->copyCameraImageData(0,0,0,0,0,&width,&height,0);
int numTotalPixels = width*height;
@@ -1591,6 +1593,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
}
if (m_data)
{
m_data->m_visualConverter.resetAll();
}
deleteDynamicsWorld();
createEmptyDynamicsWorld();
m_data->exitHandles();