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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
114 lines
4.7 KiB
C++
114 lines
4.7 KiB
C++
#ifndef OPENGL_GUI_HELPER_H
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#define OPENGL_GUI_HELPER_H
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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class btCollisionShape;
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class btTransform;
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#include "LinearMath/btAlignedObjectArray.h"
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#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
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struct OpenGLGuiHelper : public GUIHelperInterface
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{
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struct OpenGLGuiHelperInternalData* m_data;
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OpenGLGuiHelper(struct CommonGraphicsApp* glApp, bool useOpenGL2);
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virtual ~OpenGLGuiHelper();
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virtual struct CommonRenderInterface* getRenderInterface();
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virtual const struct CommonRenderInterface* getRenderInterface() const;
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virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color);
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
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virtual int registerTexture(const unsigned char* texels, int width, int height);
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virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId);
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virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
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virtual void removeAllGraphicsInstances();
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virtual void removeGraphicsInstance(int graphicsUid);
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virtual void changeInstanceFlags(int instanceUid, int flags);
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virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
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virtual void changeScaling(int instanceUid, const double scaling[3]);
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virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
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virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height);
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virtual void removeTexture(int textureUid);
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virtual int getShapeIndexFromInstance(int instanceUid);
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virtual void replaceTexture(int shapeIndex, int textureUid);
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virtual void updateShape(int shapeIndex, float* vertices, int numVertices);
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
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virtual void render(const btDiscreteDynamicsWorld* rbWorld);
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virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld);
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virtual struct Common2dCanvasInterface* get2dCanvasInterface();
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virtual CommonParameterInterface* getParameterInterface();
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virtual struct CommonGraphicsApp* getAppInterface();
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virtual void setUpAxis(int axis);
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virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX, float camPosY, float camPosZ);
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virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3], float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float cameraTarget[3]) const;
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virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
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unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
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float* depthBuffer, int depthBufferSizeInPixels,
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int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
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int startPixelIndex, int destinationWidth,
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int destinationHeight, int* numPixelsCopied);
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virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
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virtual void setProjectiveTexture(bool useProjectiveTexture);
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virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld);
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virtual void drawText3D(const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);
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virtual void drawText3D(const char* txt, float posX, float posY, float posZ, float size);
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virtual int addUserDebugText3D(const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
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{
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return -1;
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}
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virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid)
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{
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return -1;
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}
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virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue)
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{
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return -1;
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}
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virtual void removeUserDebugItem(int debugItemUniqueId)
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{
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}
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virtual void removeAllUserDebugItems()
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{
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}
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void renderInternalGl2(int pass, const btDiscreteDynamicsWorld* dynamicsWorld);
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void setVRMode(bool vrMode);
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void setVisualizerFlag(int flag, int enable);
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virtual void setVisualizerFlagCallback(VisualizerFlagCallback callback);
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virtual void dumpFramesToVideo(const char* mp4FileName);
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int createCheckeredTexture(int r, int g, int b);
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void computeSoftBodyVertices(btCollisionShape* collisionShape,
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btAlignedObjectArray<GLInstanceVertex>& gfxVertices,
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btAlignedObjectArray<int>& indices);
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};
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#endif //OPENGL_GUI_HELPER_H
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