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1452cae641
1) allow to render deformables in 'getCameraImage', for TinyRenderer (tested OK) and EGL (untested) 2) allow to have textures for deformables. See deformable_ball.py, deformable_anchor.py and deformable_torus.py for examples 3) deformables: allow to request simulation mesh data (even if there is a render mesh) See deformable_anchor.py for an example usage data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH) 4) fix deletion of deformables, thanks to Fychuyan, https://github.com/bulletphysics/bullet3/pull/3048 5) allow to enable and disable double-sided rendering, p.changeVisualShape(objectUid, linkIndex, flags=p.VISUAL_SHAPE_DOUBLE_SIDED) 6) fix GripperGraspExample, model not found 7) Fix deformable anchor not attaching to multibody with object unique id of 0 8) Fix issue with assignment of unique ids in TinyRenderer/EGL renderer (always use broadphase uid) 9) Avoid crash/issue of simulation with pinned vertices (mass 0) in btDeformableBackwardEulerObjective::applyExplicitForce 10) Store uv/normal in btSoftBody::RenderNode to allow textured meshes 11) (uncomment in btSoftBodyHelpers.cpp): dump vertices and indices in obj wavefront format, when loading a VTK file, for quicker creation of a (textured) surface mesh 12) allow interpolateRenderMesh also for old position-based soft bodies (not only the shiny new FEM deformables) 13) fix a few premake targets 14) update build_visual_studio_vr_pybullet_double_cmake.bat so it suits c:\python37 and installs locally for local install of Bullet, see also this example https://github.com/erwincoumans/hello_bullet_cmake
67 lines
1.6 KiB
C++
67 lines
1.6 KiB
C++
#ifndef __MODEL_H__
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#define __MODEL_H__
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#include <vector>
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#include <string>
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#include "geometry.h"
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#include "tgaimage.h"
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namespace TinyRender
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{
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class Model
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{
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private:
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std::vector<Vec3f> verts_;
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std::vector<std::vector<Vec3i> > faces_; // attention, this Vec3i means vertex/uv/normal
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std::vector<Vec3f> norms_;
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std::vector<Vec2f> uv_;
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TGAImage diffusemap_;
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TGAImage normalmap_;
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TGAImage specularmap_;
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Vec4f m_colorRGBA;
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void load_texture(std::string filename, const char* suffix, TGAImage& img);
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public:
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Model(const char* filename);
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Model();
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void setColorRGBA(const float rgba[4])
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{
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for (int i = 0; i < 4; i++)
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m_colorRGBA[i] = rgba[i];
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}
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const Vec4f& getColorRGBA() const
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{
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return m_colorRGBA;
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}
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void loadDiffuseTexture(const char* relativeFileName);
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void setDiffuseTextureFromData(unsigned char* textureImage, int textureWidth, int textureHeight);
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void reserveMemory(int numVertices, int numIndices);
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void addVertex(float x, float y, float z, float normalX, float normalY, float normalZ, float u, float v);
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void addTriangle(int vertexposIndex0, int normalIndex0, int uvIndex0,
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int vertexposIndex1, int normalIndex1, int uvIndex1,
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int vertexposIndex2, int normalIndex2, int uvIndex2);
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~Model();
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int nverts();
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int nfaces();
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Vec3f normal(int iface, int nthvert);
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Vec3f normal(Vec2f uv);
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Vec3f vert(int i);
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Vec3f vert(int iface, int nthvert);
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Vec3f* readWriteVertices()
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{
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if (verts_.size() == 0)
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return 0;
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return &verts_[0];
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}
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Vec2f uv(int iface, int nthvert);
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TGAColor diffuse(Vec2f uv);
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float specular(Vec2f uv);
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std::vector<int> face(int idx);
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};
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}
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#endif //__MODEL_H__
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