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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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56
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -560,7 +560,41 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
}
break;
} // case mesh
case URDF_GEOM_HEIGHTFIELD:
{
glmesh = new GLInstanceGraphicsShape;
glmesh->m_scaling[0] = 1;
glmesh->m_scaling[1] = 1;
glmesh->m_scaling[2] = 1;
glmesh->m_scaling[3] = 1;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
glmesh->m_indices->reserve(visual->m_geometry.m_indices.size());
for (int i = 0; i < visual->m_geometry.m_indices.size(); i++)
{
glmesh->m_indices->push_back(visual->m_geometry.m_indices[i]);
}
glmesh->m_vertices->reserve(visual->m_geometry.m_vertices.size());
for (int v = 0; v < visual->m_geometry.m_vertices.size(); v++)
{
GLInstanceVertex vtx;
vtx.xyzw[0] = visual->m_geometry.m_vertices[v].x();
vtx.xyzw[1] = visual->m_geometry.m_vertices[v].y();
vtx.xyzw[2] = visual->m_geometry.m_vertices[v].z();
vtx.xyzw[3] = 1;
vtx.uv[0] = visual->m_geometry.m_uvs[v].x();
vtx.uv[1] = visual->m_geometry.m_uvs[v].y();
vtx.normal[0] = visual->m_geometry.m_normals[v].x();
vtx.normal[1] = visual->m_geometry.m_normals[v].y();
vtx.normal[2] = visual->m_geometry.m_normals[v].z();
glmesh->m_vertices->push_back(vtx);
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
break;
}
case URDF_GEOM_PLANE:
{
glmesh = new GLInstanceGraphicsShape;
@@ -837,7 +871,7 @@ int TinyRendererVisualShapeConverter::convertVisualShapes(
{
B3_PROFILE("convertURDFToVisualShape");
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO, m_data->m_flags);
if (vis->m_geometry.m_type == URDF_GEOM_PLANE)
if ((vis->m_geometry.m_type == URDF_GEOM_PLANE) || (vis->m_geometry.m_type == URDF_GEOM_HEIGHTFIELD))
{
int texWidth = 1024;
int texHeight = 1024;
@@ -979,7 +1013,7 @@ int TinyRendererVisualShapeConverter::registerShapeAndInstance( const b3VisualSh
return orgGraphicsUniqueId;
}
void TinyRendererVisualShapeConverter::updateShape(int shapeUniqueId, const btVector3* vertices, int numVertices)
void TinyRendererVisualShapeConverter::updateShape(int shapeUniqueId, const btVector3* vertices, int numVertices, const btVector3* normals, int numNormals)
{
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[shapeUniqueId];
if (visualsPtr != 0)
@@ -996,9 +1030,21 @@ void TinyRendererVisualShapeConverter::updateShape(int shapeUniqueId, const btVe
//just do a sync
for (int i = 0; i < numVertices; i++)
{
verts[i].x = vertices[i][0];
verts[i].y = vertices[i][1];
verts[i].z = vertices[i][2];
const btVector3& vtx = vertices[i];
verts[i].x = vtx.x();
verts[i].y = vtx.y();
verts[i].z = vtx.z();
}
if (renderObj->m_model->nnormals() == numNormals)
{
TinyRender::Vec3f* norms = renderObj->m_model->readWriteNormals();
for (int i = 0; i < numNormals; i++)
{
const btVector3& normal = normals[i];
norms[i].x = normal.x();
norms[i].y = normal.y();
norms[i].z = normal.z();
}
}
}
}