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allow rendering of (textured) heightfield in TinyRenderer and EGL.

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Also update normals, if heightfield is updated.
This commit is contained in:
Erwin Coumans
2020-09-20 16:03:56 -07:00
parent 4f8f28233c
commit 1bd82e7d81
13 changed files with 404 additions and 100 deletions
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102
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2590,6 +2590,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
bodyUniqueId,
fileIO);
colObj->getCollisionShape()->setUserIndex2(visualShapeUniqueid);
colObj->setUserIndex3(visualShapeUniqueid);
}
}
@@ -4109,7 +4110,8 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
for (int i = 0; i < m_data->m_dynamicsWorld->getNumCollisionObjects(); i++)
{
const btCollisionObject* colObj = m_data->m_dynamicsWorld->getCollisionObjectArray()[i];
m_data->m_pluginManager.getRenderInterface()->syncTransform(colObj->getUserIndex3(), colObj->getWorldTransform(), colObj->getCollisionShape()->getLocalScaling());
btVector3 localScaling(1, 1, 1);
m_data->m_pluginManager.getRenderInterface()->syncTransform(colObj->getUserIndex3(), colObj->getWorldTransform(), localScaling);
const btCollisionShape* collisionShape = colObj->getCollisionShape();
if (collisionShape->getShapeType() == SOFTBODY_SHAPE_PROXYTYPE)
@@ -4120,10 +4122,12 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
{
btAlignedObjectArray<btVector3> vertices;
btAlignedObjectArray<btVector3> normals;
if (psb->m_renderNodes.size() == 0)
{
vertices.resize(psb->m_faces.size() * 3);
normals.resize(psb->m_faces.size() * 3);
for (int i = 0; i < psb->m_faces.size(); i++) // Foreach face
{
@@ -4131,6 +4135,7 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
{
int currentIndex = i * 3 + k;
vertices[currentIndex] = psb->m_faces[i].m_n[k]->m_x;
normals[currentIndex] = psb->m_faces[i].m_n[k]->m_n;
}
}
}
@@ -4143,7 +4148,7 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
vertices[i] = psb->m_renderNodes[i].m_x;
}
}
m_data->m_pluginManager.getRenderInterface()->updateShape(psb->getUserIndex3(), &vertices[0], vertices.size());
m_data->m_pluginManager.getRenderInterface()->updateShape(psb->getUserIndex3(), &vertices[0], vertices.size(), &normals[0],normals.size());
}
#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
}
@@ -4695,8 +4700,11 @@ class MyTriangleCollector4 : public btTriangleCallback
public:
btAlignedObjectArray<GLInstanceVertex>* m_pVerticesOut;
btAlignedObjectArray<int>* m_pIndicesOut;
btVector3 m_aabbMin, m_aabbMax;
btScalar m_textureScaling;
MyTriangleCollector4()
MyTriangleCollector4(const btVector3& aabbMin, const btVector3& aabbMax)
:m_aabbMin(aabbMin), m_aabbMax(aabbMax), m_textureScaling(1)
{
m_pVerticesOut = 0;
m_pIndicesOut = 0;
@@ -4708,7 +4716,7 @@ public:
{
GLInstanceVertex v;
v.xyzw[3] = 0;
v.uv[0] = v.uv[1] = 0.5f;
btVector3 normal = (tris[0] - tris[1]).cross(tris[0] - tris[2]);
normal.safeNormalize();
for (int l = 0; l < 3; l++)
@@ -4716,12 +4724,17 @@ public:
v.xyzw[l] = tris[k][l];
v.normal[l] = normal[l];
}
btVector3 extents = m_aabbMax - m_aabbMin;
v.uv[0] = (1. - ((v.xyzw[0] - m_aabbMin[0]) / (m_aabbMax[0] - m_aabbMin[0]))) * m_textureScaling;
v.uv[1] = (1. - (v.xyzw[1] - m_aabbMin[1]) / (m_aabbMax[1] - m_aabbMin[1])) * m_textureScaling;
m_pIndicesOut->push_back(m_pVerticesOut->size());
m_pVerticesOut->push_back(v);
}
}
};
bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
@@ -4886,21 +4899,34 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
btAlignedObjectArray<int> indices;
int strideInBytes = 9 * sizeof(float);
MyTriangleCollector4 col;
btVector3 aabbMin, aabbMax;
btTransform tr;
tr.setIdentity();
terrainShape->getAabb(tr, aabbMin, aabbMax);
MyTriangleCollector4 col(aabbMin, aabbMax);
col.m_pVerticesOut = &gfxVertices;
col.m_pIndicesOut = &indices;
btVector3 aabbMin, aabbMax;
for (int k = 0; k < 3; k++)
{
aabbMin[k] = -BT_LARGE_FLOAT;
aabbMax[k] = BT_LARGE_FLOAT;
}
terrainShape->processAllTriangles(&col, aabbMin, aabbMax);
if (gfxVertices.size() && indices.size())
{
m_data->m_guiHelper->updateShape(terrainShape->getUserIndex(), &gfxVertices[0].xyzw[0]);
m_data->m_guiHelper->updateShape(terrainShape->getUserIndex(), &gfxVertices[0].xyzw[0], gfxVertices.size());
}
btAlignedObjectArray<btVector3> vts;
btAlignedObjectArray<btVector3> normals;
vts.resize(gfxVertices.size());
normals.resize(gfxVertices.size());
for (int v = 0; v < gfxVertices.size(); v++)
{
vts[v].setValue(gfxVertices[v].xyzw[0], gfxVertices[v].xyzw[1], gfxVertices[v].xyzw[2]);
normals[v].setValue(gfxVertices[v].normal[0], gfxVertices[v].normal[1], gfxVertices[v].normal[2]);
}
m_data->m_pluginManager.getRenderInterface()->updateShape(terrainShape->getUserIndex2(), &vts[0], vts.size(), &normals[0], normals.size());
terrainShape->clearAccelerator();
terrainShape->buildAccelerator();
@@ -4915,6 +4941,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
}
serverStatusOut.m_createUserShapeResultArgs.m_userShapeUniqueId = collisionShapeUid;
delete worldImporter;
serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_COMPLETED;
}
@@ -4940,8 +4967,8 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
minHeight, maxHeight,
upAxis, scalarType, flipQuadEdges);
m_data->m_collisionShapes.push_back(heightfieldShape);
heightfieldShape->setUserValue3(clientCmd.m_createUserShapeArgs.m_shapes[i].m_heightfieldTextureScaling);
double textureScaling = clientCmd.m_createUserShapeArgs.m_shapes[i].m_heightfieldTextureScaling;
heightfieldShape->setUserValue3(textureScaling);
shape = heightfieldShape;
if (upAxis == 2)
heightfieldShape->setFlipTriangleWinding(true);
@@ -4961,6 +4988,43 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
btGenerateInternalEdgeInfo(heightfieldShape, triangleInfoMap);
}
this->m_data->m_heightfieldDatas.push_back(heightfieldData);
btAlignedObjectArray<GLInstanceVertex> gfxVertices;
btAlignedObjectArray<int> indices;
int strideInBytes = 9 * sizeof(float);
btTransform tr;
tr.setIdentity();
btVector3 aabbMin, aabbMax;
heightfieldShape->getAabb(tr, aabbMin, aabbMax);
MyTriangleCollector4 col(aabbMin, aabbMax);
col.m_pVerticesOut = &gfxVertices;
col.m_pIndicesOut = &indices;
heightfieldShape->processAllTriangles(&col, aabbMin, aabbMax);
if (gfxVertices.size() && indices.size())
{
urdfColObj.m_geometry.m_type = URDF_GEOM_HEIGHTFIELD;
urdfColObj.m_geometry.m_meshFileType = UrdfGeometry::MEMORY_VERTICES;
urdfColObj.m_geometry.m_normals.resize(gfxVertices.size());
urdfColObj.m_geometry.m_vertices.resize(gfxVertices.size());
urdfColObj.m_geometry.m_uvs.resize(gfxVertices.size());
for (int v = 0; v < gfxVertices.size(); v++)
{
urdfColObj.m_geometry.m_vertices[v].setValue(gfxVertices[v].xyzw[0], gfxVertices[v].xyzw[1], gfxVertices[v].xyzw[2]);
urdfColObj.m_geometry.m_uvs[v].setValue(gfxVertices[v].uv[0], gfxVertices[v].uv[1], 0);
urdfColObj.m_geometry.m_normals[v].setValue(gfxVertices[v].normal[0], gfxVertices[v].normal[1], gfxVertices[v].normal[2]);
}
urdfColObj.m_geometry.m_indices.resize(indices.size());
for (int ii = 0; ii < indices.size(); ii++)
{
urdfColObj.m_geometry.m_indices[ii] = indices[ii];
}
}
}
}
break;
@@ -8998,10 +9062,13 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
btAlignedObjectArray<btVector3> vertices;
btAlignedObjectArray<btVector3> normals;
if (psb->m_renderNodes.size() == 0)
{
psb->m_renderNodes.resize(psb->m_faces.size()*3);
vertices.resize(psb->m_faces.size() * 3);
normals.resize(psb->m_faces.size() * 3);
for (int i = 0; i < psb->m_faces.size(); i++) // Foreach face
{
@@ -9022,6 +9089,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
}
psb->m_renderNodes[currentIndex].m_uv1[2] = 0;
vertices[currentIndex] = psb->m_faces[i].m_n[k]->m_x;
normals[currentIndex] = psb->m_faces[i].m_n[k]->m_n;
}
}
btSoftBodyHelpers::extrapolateBarycentricWeights(psb);
@@ -9029,12 +9097,14 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
else
{
vertices.resize(psb->m_renderNodes.size());
normals.resize(psb->m_renderNodes.size());
for (int i = 0; i < psb->m_renderNodes.size(); i++) // Foreach face
{
vertices[i] = psb->m_renderNodes[i].m_x;
normals[i] = psb->m_renderNodes[i].m_normal;
}
}
m_data->m_pluginManager.getRenderInterface()->updateShape(psb->getUserIndex3(), &vertices[0], vertices.size());
m_data->m_pluginManager.getRenderInterface()->updateShape(psb->getUserIndex3(), &vertices[0], vertices.size(), &normals[0], normals.size());
if (!deformable.m_name.empty())
{