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TinyRenderer: support plane shape (creating similar textured plane to OpenGL renderer)

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TinyRenderer: perform clipping in double precision to improve accuracy
This commit is contained in:
Erwin Coumans
2020-08-10 20:19:00 -07:00
parent 038cc196e1
commit ff229baf1e
6 changed files with 151 additions and 29 deletions
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98
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -66,6 +66,8 @@ struct TinyRendererVisualShapeConverterInternalData
// Maps bodyUniqueId to a list of visual shapes belonging to the body.
btHashMap<btHashInt, btAlignedObjectArray<b3VisualShapeData> > m_visualShapesMap;
btAlignedObjectArray<unsigned char> m_checkeredTexels;
int m_uidGenerator;
int m_upAxis;
int m_swWidth;
@@ -560,10 +562,61 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
} // case mesh
case URDF_GEOM_PLANE:
// TODO: plane in tiny renderer
// TODO: export visualShapeOut for external render
break;
{
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
glmesh->m_indices->push_back(0);
glmesh->m_indices->push_back(1);
glmesh->m_indices->push_back(2);
glmesh->m_indices->push_back(0);
glmesh->m_indices->push_back(2);
glmesh->m_indices->push_back(3);
glmesh->m_scaling[0] = 1;
glmesh->m_scaling[1] = 1;
glmesh->m_scaling[2] = 1;
glmesh->m_scaling[3] = 1;
btScalar planeConst = 0;
btVector3 planeNormal = visual->m_geometry.m_planeNormal;
btVector3 planeOrigin = planeNormal * planeConst;
btVector3 vec0, vec1;
btPlaneSpace1(planeNormal, vec0, vec1);
btScalar vecLen = 128;
btVector3 verts[4];
verts[0] = planeOrigin + vec0 * vecLen + vec1 * vecLen;
verts[1] = planeOrigin - vec0 * vecLen + vec1 * vecLen;
verts[2] = planeOrigin - vec0 * vecLen - vec1 * vecLen;
verts[3] = planeOrigin + vec0 * vecLen - vec1 * vecLen;
GLInstanceVertex vtx;
vtx.xyzw[0] = verts[0][0]; vtx.xyzw[1] = verts[0][1]; vtx.xyzw[2] = 0; vtx.xyzw[3] = 0;
vtx.normal[0] = 0; vtx.normal[1] = 0; vtx.normal[2] = 1;
vtx.uv[0] = vecLen; vtx.uv[1] = vecLen;
glmesh->m_vertices->push_back(vtx);
vtx.xyzw[0] = verts[1][0]; vtx.xyzw[1] = verts[1][1]; vtx.xyzw[2] = 0; vtx.xyzw[3] = 0;
vtx.normal[0] = 0; vtx.normal[1] = 0; vtx.normal[2] = 1;
vtx.uv[0] = 0; vtx.uv[1] = vecLen;
glmesh->m_vertices->push_back(vtx);
vtx.xyzw[0] = verts[2][0]; vtx.xyzw[1] = verts[2][1]; vtx.xyzw[2] = 0; vtx.xyzw[3] = 0;
vtx.normal[0] = 0; vtx.normal[1] = 0; vtx.normal[2] = 1;
vtx.uv[0] = 0; vtx.uv[1] = 0;
glmesh->m_vertices->push_back(vtx);
vtx.xyzw[0] = verts[3][0]; vtx.xyzw[1] = verts[3][1]; vtx.xyzw[2] = 0; vtx.xyzw[3] = 0;
vtx.normal[0] = 0; vtx.normal[1] = 0; vtx.normal[2] = 1;
vtx.uv[0] = vecLen; vtx.uv[1] = 0;
glmesh->m_vertices->push_back(vtx);
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
break;
}
default:
{
b3Warning("TinyRenderer: unknown visual geometry type %i\n", visual->m_geometry.m_type);
@@ -783,6 +836,45 @@ 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) || (vis->m_geometry.m_type == URDF_GEOM_SPHERE))
{
int texWidth = 1024;
int texHeight = 1024;
if (m_data->m_checkeredTexels.size() == 0)
{
int red = 173;
int green = 199;
int blue = 255;
//create a textured surface
m_data->m_checkeredTexels.resize(texWidth * texHeight * 3);
for (int i = 0; i < texWidth * texHeight * 3; i++)
m_data->m_checkeredTexels[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)
{
m_data->m_checkeredTexels[(i + j * texWidth) * 3 + 0] = red;
m_data->m_checkeredTexels[(i + j * texWidth) * 3 + 1] = green;
m_data->m_checkeredTexels[(i + j * texWidth) * 3 + 2] = blue;
}
}
}
}
MyTexture2 texData;
texData.m_width = texWidth;
texData.m_height = texHeight;
texData.textureData1 = &m_data->m_checkeredTexels[0];
texData.m_isCached = true;
textures.push_back(texData);
}
}
rgbaColor[0] = visualShape.m_rgbaColor[0];