erwincoumans
dba239fe8d
First pass of load files through an interface (to allow loading from memory, zip file etc). So instead of posix fopen/fread, using CommonFileIOInterface.
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A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory.
Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h
Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
2018-10-08 21:27:08 -07:00
erwincoumans
ab8f16961e
Code-style consistency improvement:
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Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 14:17:31 -07:00
Erwin Coumans
5517cbc4e0
add segmask_linkindex.py example using p.getCameraImage(320,200,flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX)
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to extract object unique id and link index from segmentation mask in getCameraImage
2017-12-28 12:37:07 -08:00
Erwin Coumans
afd1066c50
pybullet.getCameraImage: preparation to expose link index in segmentation mask buffer
2017-12-28 10:18:35 -08:00
Erwin Coumans
26d32f2aa8
improve loading performance of large textures:
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option to disable tinyrenderer, use p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
also make sure to use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loadURDF, and enable rendering afterwards using p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
reorder 2 loops, making the flip texels twice as fast (cache coherency),
single memcpy of entire texture in tinyrenderer, instead of per-pixel copy (memory layout is the same)
add lots of B3_PROFILE timings, to see where time is going
2017-10-06 13:46:24 -07:00
Erwin Coumans
9213f944f1
add kukaCamGymEnv.py with camera observations (preliminary)
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show camera position in example browser
disable per-vertex and per-fragment profile timings
2017-06-21 09:33:46 -07:00
Erwin Coumans
8c6d4a4c85
also initialize near/far for depth shader in TinyRenderer
2017-05-26 09:45:26 -07:00
Erwin Coumans
2b9c67b07c
TinyRenderer: discard pixels beyond farplane
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pybullet: printf build date/time
2017-05-25 17:25:14 -07:00
Erwin Coumans
7cb763e4c8
don't render objects with zero alpha color (RGBA)
2017-05-13 07:38:00 -07:00
yunfeibai
c938e42a19
Optimize tinyrender by precompute matrix multiplication in vertex shader.
2017-05-09 14:11:01 -07:00
yunfeibai
28de699e70
Add back face culling based on world space coordinates.
2017-05-09 13:49:13 -07:00
yunfeibai
56f9c38226
Use float when clipping the shadow map index, because the index before clipping can be out of the range for int.
2017-04-25 18:28:56 -07:00
Erwin Coumans
4759e5a590
tinyrenderer: disable triangle backface culling (doesn't work well, cull triangles that should be visible)
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GLInstancingRenderer: allow to set the light position
2017-04-23 07:35:13 -07:00
Erwin Coumans
c3cc53d5aa
TinyRenderer, apply backface culling
2017-04-13 11:06:38 -07:00
Erwin Coumans
d6125ecb8c
fix in tinyrenderer clipping logic
2017-04-06 17:43:40 -07:00
Erwin Coumans
deb95c758b
TinyRenderer: implement triangle clipping against near-plane
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TinyRenderer: implement texture UV-repeat by default (instead of clamp(0,1))
2017-04-06 14:31:34 -07:00
Erwin Coumans
c0c4c8ba3f
fix many warnings
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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
2017-01-15 22:26:11 -08:00
yunfeibai
4af7ee3b2e
Fix a bug when rendering texture.
2016-12-09 17:17:24 -08:00
yunfeibai
388cba152e
Fix error in integration test.
2016-12-07 11:41:55 -08:00
yunfeibai
9c4222ea9e
Modify shader so that the color of the light and the shadow don't affect the ambient component.
2016-12-07 11:33:26 -08:00
yunfeibai
c253c750b9
Expose ambient, diffuse and specular coefficient of the light.
2016-12-06 15:21:35 -08:00
yunfeibai
08b449f149
Adjust magic number to prevent z-fighting.
2016-12-06 13:36:41 -08:00
yunfeibai
a88272de1b
Restore the old constructor for TinyRenderObjectData for backward compatibility.
2016-12-01 16:47:11 -08:00
yunfeibai
e8ff969a6f
Merge remote-tracking branch 'upstream/master'
2016-11-29 14:17:38 -08:00
yunfeibai
8aa90a7427
Refactor shader and render pipeline code.
2016-11-29 12:53:50 -08:00
yunfeibai
86c5dfe8f4
Fix the light color issue in box rendering example.
2016-11-29 11:43:52 -08:00
yunfeibai
5fe36ca200
Clean global variables.
2016-11-29 11:11:41 -08:00
yunfeibai
d48b03f23b
Use the barycentric coordinate to get the coordinate in shadow buffer.
2016-11-28 10:13:09 -08:00
yunfeibai
0bc4e0a4c3
Render multiple objects with shadow.
2016-11-27 16:53:15 -08:00
yunfeibai
529274a3f4
Render shadow of torus with shadow buffer and index from triangle order.
2016-11-27 15:32:55 -08:00
yunfeibai
29809a4471
Render depth buffer.
2016-11-23 13:00:26 -08:00
Erwin Coumans
ca71b84913
fix uninitialized m_lightColor (see ExampleBrowser/Rendering/TinyRenderer, Software was black.
2016-11-21 22:33:23 -08:00
yunfeibai
24b3e137a6
Render shadow with depth from light.
2016-11-21 10:21:14 -08:00
yunfeibai
5be4409a1a
Render shadow buffer.
2016-11-21 09:13:20 -08:00
erwincoumans
0d5dcb3cc5
setDebugObjectColor
2016-11-21 07:42:11 -08:00
yunfeibai
93ba8af023
Add shared memory API to change light color.
2016-11-20 12:52:12 -08:00
erwincoumans
36b144ffa6
Merge pull request #769 from iwilkes1/master
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Add Phong reflection to TinyRenderer
2016-09-21 08:14:18 -07:00
Erwin Coumans
f9679bd594
prevent an issue in TinyRendererSetup example
2016-09-14 00:30:58 +01:00
Ian Wilkes
2336be02e4
Added Phong refelction to the TinyRenderer Shader.
2016-09-02 11:56:03 -07:00
Ian Wilkes
ba583feb7f
Updated TinyRenderer intensity paramater.
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Switched from ranging from 0 to 1 - ambient to -1 * (1-ambient) to (1-ambient).
2016-09-02 11:56:03 -07:00
Erwin Coumans
17c16ccfa0
pybullet, deal with overflow of joints (maximum of 128 joints/links per multibody at the moment)
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increase from 64 to 128 joints in shared memory API/pybullet
fix potential issue in tinyrenderer, related to missing segmentation mask buffer
report error if CMD_REQUEST_ACTUAL_STATE command on a multibody that exceed the number of links,
todo: stream data to allow arbitrary large number of links in shared memory API
2016-08-17 19:35:52 -07:00
Erwin Coumans
238ba8c642
remote a c++11-style constructor
2016-08-12 14:28:02 -07:00
Erwin Coumans
ceceaa16be
make some changes to make the previous example code changes backward compatible
2016-08-12 14:18:46 -07:00
Erwin Coumans
3c30e2f821
add segmentation mask rendering to TinyRenderer and shared memory API
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similar to the zbuffer, but storing the object index (int) instead of float depth
2016-08-11 14:55:30 -07:00
erwin coumans
4a705d1e03
Add kiva_shelf to prepare for picking/grasping task
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Fix uninitialized variable jointDamping/jointFriction in SDF importer
Add SDF <pose> parsing in visual, inertial, collision elements.
Slight improvement in TinyRender loading performance of largish meshes (30k vertices)
Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is.
b3RobotSimAPI support SDF file loading
Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures
2016-07-14 00:05:57 -07:00
Erwin Coumans
e0c3392cee
don't pass width/height into renderObject
2016-06-07 17:02:47 -07:00
Erwin Coumans
d2e50d045b
fix issues related to camera width/height
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add width,height as arguments to pybullet.renderImage(x,y,[viewMat4x4],[projMat4x4])
2016-06-07 16:11:58 -07:00
Erwin Coumans
1c7f87aff1
implement first draft of pybullet.renderImage for synthetic camera
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remove a few debug printf from tinyrenderer
2016-06-06 18:54:05 -07:00
Erwin Coumans
5bf125cab5
fix some compile issues using premake
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use textured cube/sphere model for test
2016-06-02 13:54:52 -07:00
Erwin Coumans
aa4d2ae01d
initial hookup of TinyRenderer to shared memory interface
2016-06-01 17:47:41 -07:00
