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more deformable rendering fixes, egl and tinyrenderer

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This commit is contained in:
Erwin Coumans
2020-09-12 18:15:51 -07:00
parent 1452cae641
commit e00691e132
7 changed files with 244 additions and 273 deletions
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174
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -265,7 +265,6 @@ struct InternalBodyData
btRigidBody* m_rigidBody;
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
btSoftBody* m_softBody;
struct GLInstanceGraphicsShape* m_softBodyGfxShape;
#endif
int m_testData;
@@ -293,7 +292,7 @@ struct InternalBodyData
m_rigidBody = 0;
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
m_softBody = 0;
m_softBodyGfxShape = 0;
#endif
m_testData = 0;
m_bodyName = "";
@@ -8835,79 +8834,144 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
}
}
*bodyUniqueId = m_data->m_bodyHandles.allocHandle();
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(*bodyUniqueId);
bodyHandle->m_softBody = psb;
psb->setUserIndex2(*bodyUniqueId);
if (meshData.m_gfxShape)
{
int texUid = m_data->m_guiHelper->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
int shapeUid = m_data->m_guiHelper->registerGraphicsShape(&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, texUid);
psb->getCollisionShape()->setUserIndex(shapeUid);
int texUid1 = m_data->m_guiHelper->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
int shapeUid1 = m_data->m_guiHelper->registerGraphicsShape(&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, texUid1);
psb->getCollisionShape()->setUserIndex(shapeUid1);
float position[4] = { 0,0,0,0 };
float orientation [4] = { 0,0,0,1 };
float color[4] = { 1,1,1,1 };
float scaling[4] = { 1,1,1,1 };
int instanceUid = m_data->m_guiHelper->registerGraphicsInstance(shapeUid, position, orientation, color, scaling);
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);
psb->setUserIndex3(softBodyGraphicsShapeUid);
delete meshData.m_gfxShape;
meshData.m_gfxShape = 0;
}
else
{
m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape());
}
//m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape());
*bodyUniqueId = m_data->m_bodyHandles.allocHandle();
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(*bodyUniqueId);
bodyHandle->m_softBody = psb;
if (meshData.m_gfxShape)
bodyHandle->m_softBodyGfxShape = meshData.m_gfxShape;
psb->setUserIndex2(*bodyUniqueId);
b3VisualShapeData visualShape;
visualShape.m_objectUniqueId = *bodyUniqueId;
visualShape.m_linkIndex = -1;
visualShape.m_visualGeometryType = URDF_GEOM_MESH;
//dimensions just contains the scale
visualShape.m_dimensions[0] = scale;
visualShape.m_dimensions[1] = scale;
visualShape.m_dimensions[2] = scale;
//filename
strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN);
visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0;
//position and orientation
visualShape.m_localVisualFrame[0] = pos[0];
visualShape.m_localVisualFrame[1] = pos[1];
visualShape.m_localVisualFrame[2] = pos[2];
visualShape.m_localVisualFrame[3] = orn[0];
visualShape.m_localVisualFrame[4] = orn[1];
visualShape.m_localVisualFrame[5] = orn[2];
visualShape.m_localVisualFrame[6] = orn[3];
//color and ids to be set by the renderer
visualShape.m_rgbaColor[0] = 0;
visualShape.m_rgbaColor[1] = 0;
visualShape.m_rgbaColor[2] = 0;
visualShape.m_rgbaColor[3] = 1;
visualShape.m_tinyRendererTextureId = -1;
visualShape.m_textureUniqueId = -1;
visualShape.m_openglTextureId = -1;
int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->addVisualShape(&visualShape, fileIO, psb->getBroadphaseHandle()->getUid(),
*bodyUniqueId,-1);
psb->setUserIndex3(softBodyGraphicsShapeUid);
btAlignedObjectArray<btVector3> vertices;
if (psb->m_renderNodes.size() == 0)
{
vertices.resize(psb->m_faces.size() * 3);
btAlignedObjectArray<GLInstanceVertex> gfxVertices;
btAlignedObjectArray<int> indices;
int strideInBytes = 9 * sizeof(float);
gfxVertices.resize(psb->m_faces.size() * 3);
for (int i = 0; i < psb->m_faces.size(); i++) // Foreach face
{
for (int k = 0; k < 3; k++) // Foreach vertex on a face
{
int currentIndex = i * 3 + k;
for (int j = 0; j < 3; j++)
{
gfxVertices[currentIndex].xyzw[j] = psb->m_faces[i].m_n[k]->m_x[j];
}
for (int j = 0; j < 3; j++)
{
gfxVertices[currentIndex].normal[j] = psb->m_faces[i].m_n[k]->m_n[j];
}
for (int j = 0; j < 2; j++)
{
gfxVertices[currentIndex].uv[j] = psb->m_faces[i].m_n[k]->m_x[j];
}
indices.push_back(currentIndex);
}
}
if (gfxVertices.size() && indices.size())
{
int red = 173;
int green = 199;
int blue = 255;
int texWidth = 256;
int texHeight = 256;
btAlignedObjectArray<unsigned char> texels;
texels.resize(texWidth* texHeight * 3);
for (int i = 0; i < texWidth * texHeight * 3; i++)
texels[i] = 255;
for (int i = 0; i < texWidth; i++)
{
for (int j = 0; j < texHeight; j++)
{
int a = i < texWidth / 2 ? 1 : 0;
int b = j < texWidth / 2 ? 1 : 0;
if (a == b)
{
texels[(i + j * texWidth) * 3 + 0] = red;
texels[(i + j * texWidth) * 3 + 1] = green;
texels[(i + j * texWidth) * 3 + 2] = blue;
}
}
}
int texId = m_data->m_guiHelper->registerTexture(&texels[0], texWidth, texHeight);
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);
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);
}
}
btAlignedObjectArray<btVector3> vertices;
if (psb->m_renderNodes.size() == 0)
{
psb->m_renderNodes.resize(psb->m_faces.size()*3);
vertices.resize(psb->m_faces.size() * 3);
for (int i = 0; i < psb->m_faces.size(); i++) // Foreach face
{
for (int k = 0; k < 3; k++) // Foreach vertex on a face
{
int currentIndex = i * 3 + k;
for (int j = 0; j < 3; j++)
{
psb->m_renderNodes[currentIndex].m_x[j] = psb->m_faces[i].m_n[k]->m_x[j];
}
for (int j = 0; j < 3; j++)
{
psb->m_renderNodes[currentIndex].m_normal[j] = psb->m_faces[i].m_n[k]->m_n[j];
}
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[2] = 0;
vertices[currentIndex] = psb->m_faces[i].m_n[k]->m_x;
}
}
btSoftBodyHelpers::extrapolateBarycentricWeights(psb);
}
else
{