Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-11-03 22:45:36 +00:00
Code Issues Packages Projects Releases Wiki Activity

allow to set color of deformables for debug visualizer

Browse Source 
don't render deformables for TinyRenderer/EGL if p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
Fix segmentation mask in tinyrenderer for deformables
This commit is contained in:
Erwin Coumans
2020-09-12 19:41:10 -07:00
parent d104e4c2e1
commit c58a54174e
3 changed files with 37 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+31 -25
View File
@@ -8851,21 +8851,23 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
int instanceUid = m_data->m_guiHelper->registerGraphicsInstance(shapeUid1, position, orientation, color, scaling);
psb->setUserIndex(instanceUid);
int texUid2 = m_data->m_pluginManager.getRenderInterface()->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
int linkIndex = -1;
int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->registerShapeAndInstance(
&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
&meshData.m_gfxShape->m_indices->at(0),
meshData.m_gfxShape->m_numIndices,
B3_GL_TRIANGLES,
texUid2,
psb->getBroadphaseHandle()->getUid(),
*bodyUniqueId,
linkIndex);
if (m_data->m_enableTinyRenderer)
{
int texUid2 = m_data->m_pluginManager.getRenderInterface()->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
int linkIndex = -1;
int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->registerShapeAndInstance(
&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
&meshData.m_gfxShape->m_indices->at(0),
meshData.m_gfxShape->m_numIndices,
B3_GL_TRIANGLES,
texUid2,
psb->getBroadphaseHandle()->getUid(),
*bodyUniqueId,
linkIndex);
psb->setUserIndex3(softBodyGraphicsShapeUid);
psb->setUserIndex3(softBodyGraphicsShapeUid);
}
delete meshData.m_gfxShape;
meshData.m_gfxShape = 0;
}
@@ -8892,7 +8894,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
}
for (int j = 0; j < 2; j++)
{
gfxVertices[currentIndex].uv[j] = psb->m_faces[i].m_n[k]->m_x[j];
gfxVertices[currentIndex].uv[j] = btFabs(btFabs(10. * psb->m_faces[i].m_n[k]->m_x[j]));
}
indices.push_back(currentIndex);
}
@@ -8929,16 +8931,18 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
int shapeId = m_data->m_guiHelper->registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, texId);
b3Assert(shapeId >= 0);
psb->getCollisionShape()->setUserIndex(shapeId);
if (m_data->m_enableTinyRenderer)
{
int texUid2 = m_data->m_pluginManager.getRenderInterface()->registerTexture(&texels[0], texWidth, texHeight);
int linkIndex = -1;
int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->registerShapeAndInstance(
&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, texUid2,
psb->getBroadphaseHandle()->getUid(),
*bodyUniqueId,
linkIndex);
psb->setUserIndex3(softBodyGraphicsShapeUid);
int texUid2 = m_data->m_pluginManager.getRenderInterface()->registerTexture(&texels[0], texWidth, texHeight);
int linkIndex = -1;
int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->registerShapeAndInstance(
&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, texUid2,
psb->getBroadphaseHandle()->getUid(),
*bodyUniqueId,
linkIndex);
psb->setUserIndex3(softBodyGraphicsShapeUid);
}
}
}
@@ -8965,7 +8969,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
}
for (int j = 0; j < 2; j++)
{
psb->m_renderNodes[currentIndex].m_uv1[j] = psb->m_faces[i].m_n[k]->m_x[j];
psb->m_renderNodes[currentIndex].m_uv1[j] = btFabs(10*psb->m_faces[i].m_n[k]->m_x[j]);
}
psb->m_renderNodes[currentIndex].m_uv1[2] = 0;
vertices[currentIndex] = psb->m_faces[i].m_n[k]->m_x;
@@ -13236,6 +13240,8 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId, linkIndex,
clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
int graphicsIndex = bodyHandle->m_softBody->getUserIndex();
m_data->m_guiHelper->changeRGBAColor(graphicsIndex, clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_FLAGS)