virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels,
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
int startPixelIndex, int destinationWidth,
int destinationHeight, int* numPixelsCopied)
{
m_cs->lock();
for (int i=0;i<16;i++)
{
m_viewMatrix[i] = viewMatrix[i];
m_projectionMatrix[i] = projectionMatrix[i];
}
m_pixelsRGBA = pixelsRGBA;
m_rgbaBufferSizeInPixels = rgbaBufferSizeInPixels;
m_depthBuffer = depthBuffer;
m_depthBufferSizeInPixels = depthBufferSizeInPixels;
m_segmentationMaskBuffer = segmentationMaskBuffer;
m_segmentationMaskBufferSizeInPixels = segmentationMaskBufferSizeInPixels;
m_startPixelIndex = startPixelIndex;
m_destinationWidth = destinationWidth;
m_destinationHeight = destinationHeight;
m_numPixelsCopied = numPixelsCopied;
m_cs->setSharedParam(1,eGUIHelperCopyCameraImageData);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
b3Clock::usleep(1000);
}
}
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime )
{
m_tmpLine.m_lifeTime = lifeTime;
m_tmpLine.m_lineWidth = lineWidth;
m_tmpLine.m_itemUniqueId = m_uidGenerator++;
m_tmpLine.m_debugLineFromXYZ[0] = debugLineFromXYZ[0];
m_tmpLine.m_debugLineFromXYZ[1] = debugLineFromXYZ[1];
m_tmpLine.m_debugLineFromXYZ[2] = debugLineFromXYZ[2];
m_tmpLine.m_debugLineToXYZ[0] = debugLineToXYZ[0];
m_tmpLine.m_debugLineToXYZ[1] = debugLineToXYZ[1];
m_tmpLine.m_debugLineToXYZ[2] = debugLineToXYZ[2];
m_tmpLine.m_debugLineColorRGB[0] = debugLineColorRGB[0];
m_tmpLine.m_debugLineColorRGB[1] = debugLineColorRGB[1];
m_tmpLine.m_debugLineColorRGB[2] = debugLineColorRGB[2];
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddLine);
m_cs->unlock();
while (m_cs->getSharedParam(1) != eGUIHelperIdle)
{
b3Clock::usleep(150);
}
return m_userDebugLines[m_userDebugLines.size()-1].m_itemUniqueId;
}
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
{
m_tmpText.m_itemUniqueId = m_uidGenerator++;
m_tmpText.m_lifeTime = lifeTime;
m_tmpText.textSize = size;
int len = strlen(txt);
strcpy(m_tmpText.m_text,txt);
m_tmpText.m_textPositionXYZ[0] = positionXYZ[0];
m_tmpText.m_textPositionXYZ[1] = positionXYZ[1];
m_tmpText.m_textPositionXYZ[2] = positionXYZ[2];
m_tmpText.m_textColorRGB[0] = textColorRGB[0];
m_tmpText.m_textColorRGB[1] = textColorRGB[1];
m_tmpText.m_textColorRGB[2] = textColorRGB[2];
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddText);
m_cs->unlock();
while (m_cs->getSharedParam(1) != eGUIHelperIdle)
{
b3Clock::usleep(150);
}
return m_userDebugText[m_userDebugText.size()-1].m_itemUniqueId;
}
virtual void removeAllGraphicsInstances()
{
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRemoveAllGraphicsInstances);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
b3Clock::usleep(1000);
}
}
virtual void removeAllUserDebugItems( )
{
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugRemoveAllItems);
m_cs->unlock();
while (m_cs->getSharedParam(1) != eGUIHelperIdle)
{
b3Clock::usleep(150);
}
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
m_dynamicsWorld = rbWorld;
m_cs->lock();
m_cs->setSharedParam(1, eGUIHelperAutogenerateGraphicsObjects);
m_cs->unlock();
while (m_cs->getSharedParam(1) != eGUIHelperIdle)
{
b3Clock::usleep(1000);
}
}
void lockQueue()
{
if ( m_useSpinMutex )
{
m_mutex.lock();
}
else
{
m_queueLock->lock();
}
}
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
m_colShape = collisionShape;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperCreateCollisionShapeGraphicsObject);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
b3Clock::usleep(1000);
}
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color)
{
m_body = body;
m_color3 = color;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperCreateRigidBodyGraphicsObject);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
b3Clock::usleep(1000);
}
}
virtual void removeUserDebugItem( int debugItemUniqueId)
{
m_removeDebugItemUid = debugItemUniqueId;
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugRemoveItem);
m_cs->unlock();
while (m_cs->getSharedParam(1) != eGUIHelperIdle)
{
b3Clock::usleep(150);
}
}
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
{
m_obj = obj;
m_color2 = color;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperCreateCollisionObjectGraphicsObject);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
b3Clock::usleep(1000);
}
}
SampleJobInterface* consumeJob()
{
SampleJobInterface* job = 0;
m_cs->lock();
int sz = m_jobQueue.size();
if (sz)
{
job = m_jobQueue[sz-1];
m_jobQueue.pop_back();
}
m_cs->unlock();
return job;
}
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
m_texels = texels;
m_textureWidth = width;
m_textureHeight = height;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRegisterTexture);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
b3Clock::usleep(1000);
}
return m_textureId;
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
m_shapeIndex = shapeIndex;
m_position = position;
m_quaternion = quaternion;
m_color = color;
m_scaling = scaling;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsInstance);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
b3Clock::usleep(1000);
}
return m_instanceId;
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
m_vertices = vertices;
m_numvertices = numvertices;
m_indices = indices;
m_numIndices = numIndices;
m_primitiveType = primitiveType;
m_textureId = textureId;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsShape);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
b3Clock::usleep(1000);
}
return m_shapeIndex;
}
void submitJob(SampleJobInterface* job)
{
m_cs->lock();
m_jobQueue.push_back(job);
m_cs->unlock();
}