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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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163
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -925,121 +925,52 @@ int TinyRendererVisualShapeConverter::convertVisualShapes(
return uniqueId;
}
int TinyRendererVisualShapeConverter::addVisualShape(
b3VisualShapeData* visualShape, struct CommonFileIOInterface* fileIO, int orgGraphicsUniqueId,
int bodyUniqueId, int linkIndex)
int TinyRendererVisualShapeConverter::registerShapeAndInstance(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId, int orgGraphicsUniqueId, int bodyUniqueId, int linkIndex)
{
int uniqueId = orgGraphicsUniqueId;
visualShape->m_openglTextureId = -1;
visualShape->m_tinyRendererTextureId = -1;
visualShape->m_textureUniqueId = -1;
b3ImportMeshData meshData;
float rgbaColor[4] = { 1,1,1,1 };
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(
visualShape->m_meshAssetFileName, meshData, fileIO))
{
if (m_data->m_flags & URDF_USE_MATERIAL_COLORS_FROM_MTL)
{
if (meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR)
{
visualShape->m_rgbaColor[0] = meshData.m_rgbaColor[0];
visualShape->m_rgbaColor[1] = meshData.m_rgbaColor[1];
visualShape->m_rgbaColor[2] = meshData.m_rgbaColor[2];
if (m_data->m_flags & URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL)
{
visualShape->m_rgbaColor[3] = meshData.m_rgbaColor[3];
}
else
{
visualShape->m_rgbaColor[3] = 1;
}
for (int i = 0; i < 4; i++)
{
rgbaColor[i] = meshData.m_rgbaColor[i];
}
}
}
MyTexture2 texture;
if (meshData.m_textureImage1)
{
texture.m_width = meshData.m_textureWidth;
texture.m_height = meshData.m_textureHeight;
texture.textureData1 = meshData.m_textureImage1;
texture.m_isCached = meshData.m_isCached;
visualShape->m_tinyRendererTextureId = m_data->m_textures.size();
m_data->m_textures.push_back(texture);
}
// meshData.m_gfxShape is allocated by a helper function used to create visualShape,
// but is not needed in this use case here
}
btAlignedObjectArray<b3VisualShapeData>* shapes =
m_data->m_visualShapesMap[visualShape->m_objectUniqueId];
m_data->m_visualShapesMap[bodyUniqueId];
if (!shapes)
{
m_data->m_visualShapesMap.insert(visualShape->m_objectUniqueId,
btAlignedObjectArray<b3VisualShapeData>());
shapes = m_data->m_visualShapesMap[visualShape->m_objectUniqueId];
m_data->m_visualShapesMap.insert(bodyUniqueId,
btAlignedObjectArray<b3VisualShapeData>());
shapes = m_data->m_visualShapesMap[bodyUniqueId];
}
//////////////
if (meshData.m_gfxShape)
if (numvertices && numIndices)
{
if (meshData.m_gfxShape->m_numvertices && meshData.m_gfxShape->m_numIndices)
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer, m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, -1, -1);
//those are primary soft bodies, possibly cloth, make them double-sided by default
tinyObj->m_doubleSided = true;
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer, m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, -1, -1);
//those are primary soft bodies, possibly cloth, make them double-sided by default
tinyObj->m_doubleSided = true;
B3_PROFILE("registerMeshShape");
float rgbaColor[4] = { 1,1,1,1 };
tinyObj->registerMeshShape(vertices,
numvertices,
indices,
numIndices,
rgbaColor,
m_data->m_textures[textureId].textureData1, m_data->m_textures[textureId].m_width, m_data->m_textures[textureId].m_height);
}
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[orgGraphicsUniqueId];
if (visualsPtr == 0)
{
m_data->m_swRenderInstances.insert(orgGraphicsUniqueId, new TinyRendererObjectArray);
}
visualsPtr = m_data->m_swRenderInstances[orgGraphicsUniqueId];
if (visualsPtr && *visualsPtr)
{
TinyRendererObjectArray* visuals = *visualsPtr;
if (visuals)
{
B3_PROFILE("registerMeshShape");
tinyObj->registerMeshShape(&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,
rgbaColor,
meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
}
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[uniqueId];
if (visualsPtr == 0)
{
m_data->m_swRenderInstances.insert(uniqueId, new TinyRendererObjectArray);
}
visualsPtr = m_data->m_swRenderInstances[uniqueId];
if (visualsPtr && *visualsPtr)
{
TinyRendererObjectArray* visuals = *visualsPtr;
if (visuals)
{
visuals->m_linkIndex = linkIndex;
visuals->m_objectUniqueId = bodyUniqueId;
visuals->m_renderObjects.push_back(tinyObj);
}
visuals->m_linkIndex = linkIndex;
visuals->m_objectUniqueId = bodyUniqueId;
visuals->m_renderObjects.push_back(tinyObj);
}
}
delete meshData.m_gfxShape;
}
shapes->push_back(*visualShape);
return uniqueId;
return orgGraphicsUniqueId;
}
void TinyRendererVisualShapeConverter::updateShape(int shapeUniqueId, const btVector3* vertices, int numVertices)
@@ -1206,9 +1137,9 @@ void TinyRendererVisualShapeConverter::render()
render(viewMat, projMat);
}
void TinyRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId, const btTransform& worldTransform, const btVector3& localScaling)
void TinyRendererVisualShapeConverter::syncTransform(int shapeUniqueId, const btTransform& worldTransform, const btVector3& localScaling)
{
TinyRendererObjectArray** renderObjPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
TinyRendererObjectArray** renderObjPtr = m_data->m_swRenderInstances[shapeUniqueId];
if (renderObjPtr)
{
TinyRendererObjectArray* renderObj = *renderObjPtr;
@@ -1471,9 +1402,9 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
}
}
void TinyRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniqueId)
void TinyRendererVisualShapeConverter::removeVisualShape(int shapeUniqueId)
{
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[collisionObjectUniqueId];
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[shapeUniqueId];
if (ptrptr && *ptrptr)
{
TinyRendererObjectArray* ptr = *ptrptr;
@@ -1486,7 +1417,7 @@ void TinyRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniq
}
}
delete ptr;
m_data->m_swRenderInstances.remove(collisionObjectUniqueId);
m_data->m_swRenderInstances.remove(shapeUniqueId);
}
}
@@ -1523,7 +1454,7 @@ void TinyRendererVisualShapeConverter::resetAll()
m_data->m_visualShapesMap.clear();
}
void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
void TinyRendererVisualShapeConverter::changeShapeTexture(int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
{
btAssert(textureUniqueId < m_data->m_textures.size());
if (textureUniqueId >= -1 && textureUniqueId < m_data->m_textures.size())
@@ -1535,7 +1466,7 @@ void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, in
continue; //can this ever happen?
TinyRendererObjectArray* visualArray = *visualArrayPtr;
if (visualArray->m_objectUniqueId == objectUniqueId && visualArray->m_linkIndex == jointIndex)
if (visualArray->m_objectUniqueId == bodyUniqueId && visualArray->m_linkIndex == jointIndex)
{
for (int v = 0; v < visualArray->m_renderObjects.size(); v++)
{
@@ -1563,7 +1494,7 @@ int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int
texData.m_width = width;
texData.m_height = height;
texData.textureData1 = texels;
texData.m_isCached = false;
texData.m_isCached = true;
m_data->m_textures.push_back(texData);
return m_data->m_textures.size() - 1;
}
@@ -1604,7 +1535,13 @@ int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename, stru
if (image && (width >= 0) && (height >= 0))
{
return registerTexture(image, width, height);
MyTexture2 texData;
texData.m_width = width;
texData.m_height = height;
texData.textureData1 = image;
texData.m_isCached = false;
m_data->m_textures.push_back(texData);
return m_data->m_textures.size() - 1;
}
return -1;
}