virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId)
{
int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices, numvertices, indices, numIndices, primitiveType, textureId);
if (shapeIndex >= 0)
{
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer, m_depthBuffer);
float rgbaColor[4] = {1, 1, 1, 1};
swObj->registerMeshShape(vertices, numvertices, indices, numIndices, rgbaColor);
//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
m_swRenderObjects.insert(shapeIndex, swObj);
}
return shapeIndex;
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
int shapeIndex = m_swRenderObjects.size();
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer);
float rgbaColor[4] = {1,1,1,1};
//if (textureId>=0)
//{
// swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
//} else
{
swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
}
//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
m_swRenderObjects.insert(shapeIndex,swObj);
return shapeIndex;
}
TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
{
m_useSoftware = false;
m_guiHelper = gui;
m_app = gui->getAppInterface();
m_internalData = new TinyRendererSetupInternalData(gui->getAppInterface()->m_window->getWidth(),gui->getAppInterface()->m_window->getHeight());
m_app->m_renderer->enableBlend(true);
const char* fileName = "teddy.obj";//cube.obj";//textured_sphere_smooth.obj";//cube.obj";
{
{
int shapeId = -1;
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
{
int textureIndex = -1;
if (meshData.m_textureImage)
{
textureIndex = m_guiHelper->getRenderInterface()->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
}
shapeId = m_guiHelper->getRenderInterface()->registerShape(&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,
textureIndex);
float position[4]={0,0,0,1};
float orn[4]={0,0,0,1};
float color[4]={1,1,1,1};
float scaling[4]={1,1,1,1};
m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
m_guiHelper->getRenderInterface()->writeTransforms();
m_internalData->m_shapePtr.push_back(0);
TinyRenderObjectData* ob = new TinyRenderObjectData(m_internalData->m_width,m_internalData->m_height,
m_internalData->m_rgbColorBuffer,
m_internalData->m_depthBuffer);
//ob->loadModel("cube.obj");
const int* indices = &meshData.m_gfxShape->m_indices->at(0);
ob->registerMeshShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
indices,
meshData.m_gfxShape->m_numIndices, meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
m_internalData->m_renderObjects.push_back(ob);
delete meshData.m_gfxShape;
delete meshData.m_textureImage;
}
}
}
}
void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionObject* colObj)
{
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
if (linkPtr)
{
const UrdfLink* link = *linkPtr;
for (int v = 0; v < link->m_visualArray.size();v++)
{
btAlignedObjectArray<MyTexture2> textures;
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
int graphicsIndex = -1;
const UrdfVisual& vis = link->m_visualArray[v];
btTransform childTrans = vis.m_linkLocalFrame;
btHashString matName(vis.m_materialName.c_str());
UrdfMaterial *const * matPtr = model.m_materials[matName];
float rgbaColor[4] = {1,1,1,1};
if (matPtr)
{
UrdfMaterial *const mat = *matPtr;
for (int i=0;i<4;i++)
rgbaColor[i] = mat->m_rgbaColor[i];
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
//m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
}
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[colObj];
if (visualsPtr==0)
{
m_data->m_swRenderInstances.insert(colObj,new TinyRendererObjectArray);
}
visualsPtr = m_data->m_swRenderInstances[colObj];
btAssert(visualsPtr);
TinyRendererObjectArray* visuals = *visualsPtr;
convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures);
if (vertices.size() && indices.size())
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer);
unsigned char* textureImage=0;
int textureWidth=0;
int textureHeight=0;
if (textures.size())
{
textureImage = textures[0].textureData;
textureWidth = textures[0].m_width;
textureHeight = textures[0].m_height;
}
tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor,
textureImage,textureWidth,textureHeight);
visuals->m_renderObjects.push_back(tinyObj);
}
for (int i=0;i<textures.size();i++)
{
delete textures[i].textureData;
}
}
}
}
// If you are getting segfaults in this function it may be ecause you are
// compliling the plugin with differently from pybullet, try complining the
// plugin with distutils too.
void EGLRendererVisualShapeConverter::convertVisualShapes(
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model,
int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO)
{
btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
if (linkPtr)
{
bool useVisual;
int cnt = 0;
if (linkPtr->m_visualArray.size() > 0)
{
useVisual = true;
cnt = linkPtr->m_visualArray.size();
}
else
{
// We have to see something, take collision shape. Useful for MuJoCo xml, where there are no explicit visual shapes.
useVisual = false;
cnt = linkPtr->m_collisionArray.size();
}
for (int v1 = 0; v1 < cnt; v1++)
{
btAlignedObjectArray<MyTexture3> textures;
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans;
startTrans.setIdentity();
//int graphicsIndex = -1;
const UrdfShape* vis;
if (useVisual)
{
vis = &linkPtr->m_visualArray[v1];
}
else
{
vis = &linkPtr->m_collisionArray[v1];
}
// see note at function header
btTransform childTrans = vis->m_linkLocalFrame;
int colorIndex = linkIndex; //colObj? colObj->getBroadphaseHandle()->getUid() & 3 : 0;
if (colorIndex < 0)
colorIndex = 0;
colorIndex &= 3;
btVector4 color;
color = sColors[colorIndex];
float rgbaColor[4] = {(float)color[0], (float)color[1], (float)color[2], (float)color[3]};
//if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
//{
// color.setValue(1,1,1,1);
//}
if (model)
{
if (useVisual)
{
btHashString matName(linkPtr->m_visualArray[v1].m_materialName.c_str());
UrdfMaterial* const* matPtr = model->m_materials[matName];
if (matPtr)
{
for (int i = 0; i < 4; i++)
{
rgbaColor[i] = (*matPtr)->m_matColor.m_rgbaColor[i];
}
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
//m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
}
else
{
///programmatic created models may have the color in the visual
if (vis && vis->m_geometry.m_hasLocalMaterial)
{
for (int i = 0; i < 4; i++)
{
rgbaColor[i] = vis->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[i];
}
}
}
}
}
else
{
if (vis && vis->m_geometry.m_hasLocalMaterial)
{
for (int i = 0; i < 4; i++)
{
rgbaColor[i] = vis->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[i];
}
}
}
EGLRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
if (visualsPtr == 0)
{
m_data->m_swRenderInstances.insert(collisionObjectUniqueId, new EGLRendererObjectArray);
}
visualsPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
btAssert(visualsPtr);
EGLRendererObjectArray* visuals = *visualsPtr;
visuals->m_objectUniqueId = bodyUniqueId;
visuals->m_linkIndex = linkIndex;
b3VisualShapeData visualShape;
visualShape.m_objectUniqueId = bodyUniqueId;
visualShape.m_linkIndex = linkIndex;
visualShape.m_localVisualFrame[0] = vis->m_linkLocalFrame.getOrigin()[0];
visualShape.m_localVisualFrame[1] = vis->m_linkLocalFrame.getOrigin()[1];
visualShape.m_localVisualFrame[2] = vis->m_linkLocalFrame.getOrigin()[2];
visualShape.m_localVisualFrame[3] = vis->m_linkLocalFrame.getRotation()[0];
visualShape.m_localVisualFrame[4] = vis->m_linkLocalFrame.getRotation()[1];
visualShape.m_localVisualFrame[5] = vis->m_linkLocalFrame.getRotation()[2];
visualShape.m_localVisualFrame[6] = vis->m_linkLocalFrame.getRotation()[3];
visualShape.m_rgbaColor[0] = rgbaColor[0];
visualShape.m_rgbaColor[1] = rgbaColor[1];
visualShape.m_rgbaColor[2] = rgbaColor[2];
visualShape.m_rgbaColor[3] = rgbaColor[3];
{
B3_PROFILE("convertURDFToVisualShape2");
convertURDFToVisualShape2(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO, m_data->m_flags);
}
m_data->m_visualShapes.push_back(visualShape);
if (vertices.size() && indices.size())
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer, m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId, linkIndex);
unsigned char* textureImage1 = 0;
int textureWidth = 0;
int textureHeight = 0;
bool isCached = false;
int textureIndex = -1;
if (textures.size())
{
textureImage1 = textures[0].textureData1;
textureWidth = textures[0].m_width;
textureHeight = textures[0].m_height;
isCached = textures[0].m_isCached;
textureIndex = m_data->m_instancingRenderer->registerTexture(textureImage1, textureWidth, textureHeight);
}
{
B3_PROFILE("registerMeshShape");
tinyObj->registerMeshShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), rgbaColor,
textureImage1, textureWidth, textureHeight);
}
visuals->m_renderObjects.push_back(tinyObj);
{
B3_PROFILE("m_instancingRenderer register");
// register mesh to m_instancingRenderer too.
int shapeIndex = m_data->m_instancingRenderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex);
double scaling[3] = {1, 1, 1};
visuals->m_graphicsInstanceId = m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0], scaling);
int segmentationMask = bodyUniqueId + ((linkIndex + 1) << 24);
{
int graphicsIndex = visuals->m_graphicsInstanceId;
if (graphicsIndex >= 0)
{
if (m_data->m_graphicsIndexToSegmentationMask.size() < (graphicsIndex + 1))
{
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex + 1);
}
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex] = segmentationMask;
}
}
m_data->m_instancingRenderer->writeTransforms();
}
}
for (int i = 0; i < textures.size(); i++)
{
if (!textures[i].m_isCached)
{
free(textures[i].textureData1);
}
}
}
}
}
