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bullet3/examples/TinyRenderer/TinyRenderer.h

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patch TinyRenderer so it software-renders in an OpenGL texture, for testing fix texture support: flip texture to make OpenGL happy (lower-left is origin) add path prefix to .obj loader, so materials/textures are loaded ok.
2016-04-27 03:52:52 +00:00
#ifndef TINY_RENDERER_H
#define TINY_RENDERER_H
fix typo in texels flip add support to create a cube in TinyRenderer (quick test)
2016-04-28 19:28:04 +00:00
#include "geometry.h"
Put TinyRender functions and classes inside a TinyRender namespace. The TinyRender library defines some classes with very generic names, such as vec, Matrix, Model, which in my case, when compiling the example browser using a different library for graphics, is giving me name clashes.
2020-02-14 10:54:25 +00:00
#include "model.h"
patch TinyRenderer so it software-renders in an OpenGL texture, for testing fix texture support: flip texture to make OpenGL happy (lower-left is origin) add path prefix to .obj loader, so materials/textures are loaded ok.
2016-04-27 03:52:52 +00:00
#include "Bullet3Common/b3AlignedObjectArray.h"
Remove unused ROS urdf (was replaced by Bullet UrdfParser. Small refactoring for ExampleBrowser: move examples cpp files in the app/executable Move ExtendedTutorials in its own app/executable as a test.
2016-05-13 06:03:12 +00:00
#include "Bullet3Common/b3Vector3.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
fix typo in texels flip add support to create a cube in TinyRenderer (quick test)
2016-04-28 19:28:04 +00:00
#include "tgaimage.h"
patch TinyRenderer so it software-renders in an OpenGL texture, for testing fix texture support: flip texture to make OpenGL happy (lower-left is origin) add path prefix to .obj loader, so materials/textures are loaded ok.
2016-04-27 03:52:52 +00:00
struct TinyRenderObjectData
{
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
//Camera
Put TinyRender functions and classes inside a TinyRender namespace. The TinyRender library defines some classes with very generic names, such as vec, Matrix, Model, which in my case, when compiling the example browser using a different library for graphics, is giving me name clashes.
2020-02-14 10:54:25 +00:00
TinyRender::Matrix m_viewMatrix;
TinyRender::Matrix m_projectionMatrix;
TinyRender::Matrix m_viewportMatrix;
Preliminary working version of TinyRenderer for standalone demos, it works without OpenGL dependency now, so it runs in the cloud :-) Add scaling support for TinyRenderer, remove some un-used normal mapping in TinyRenderer shader, expose light_dir_world, remove accidental hard-coded path in tga write_tga_file, Fix InverseDynamicsExampleCreateFunc, enum has to start at 0
2016-05-27 00:36:01 +00:00
btVector3 m_localScaling;
btVector3 m_lightDirWorld;
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
btVector3 m_lightColor;
float m_lightDistance;
float m_lightAmbientCoeff;
float m_lightDiffuseCoeff;
float m_lightSpecularCoeff;
//Model (vertices, indices, textures, shader)
Put TinyRender functions and classes inside a TinyRender namespace. The TinyRender library defines some classes with very generic names, such as vec, Matrix, Model, which in my case, when compiling the example browser using a different library for graphics, is giving me name clashes.
2020-02-14 10:54:25 +00:00
TinyRender::Matrix m_modelMatrix;
TinyRender::Model* m_model;
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
//class IShader* m_shader; todo(erwincoumans) expose the shader, for now we use a default shader
//Output
TGAImage& m_rgbColorBuffer;
b3AlignedObjectArray<float>& m_depthBuffer; //required, hence a reference
b3AlignedObjectArray<float>* m_shadowBuffer; //optional, hence a pointer
b3AlignedObjectArray<int>* m_segmentationMaskBufferPtr; //optional, hence a pointer
patch TinyRenderer so it software-renders in an OpenGL texture, for testing fix texture support: flip texture to make OpenGL happy (lower-left is origin) add path prefix to .obj loader, so materials/textures are loaded ok.
2016-04-27 03:52:52 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer);
TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex);
TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer, b3AlignedObjectArray<float>* shadowBuffer);
TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex, int linkIndex);
virtual ~TinyRenderObjectData();
First pass of load files through an interface (to allow loading from memory, zip file etc). So instead of posix fopen/fread, using CommonFileIOInterface. A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory. Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
2018-10-09 04:27:08 +00:00
void loadModel(const char* fileName, struct CommonFileIOInterface* fileIO);
backward compatibility fix
2018-10-09 23:25:32 +00:00
void createCube(float HalfExtentsX, float HalfExtentsY, float HalfExtentsZ, struct CommonFileIOInterface* fileIO=0);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
void registerMeshShape(const float* vertices, int numVertices, const int* indices, int numIndices, const float rgbaColor[4],
unsigned char* textureImage = 0, int textureWidth = 0, int textureHeight = 0);
First pass of load files through an interface (to allow loading from memory, zip file etc). So instead of posix fopen/fread, using CommonFileIOInterface. A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory. Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
2018-10-09 04:27:08 +00:00
void registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals, btAlignedObjectArray<int>& indices, struct CommonFileIOInterface* fileIO);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
void* m_userData;
int m_userIndex;
int m_objectIndex;
int m_linkIndex;
* add textured models of ball.vtk (obj/mtl) and torus (obj/mtl) and cloth. 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
2020-09-12 08:03:04 +00:00
bool m_doubleSided;
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
};
patch TinyRenderer so it software-renders in an OpenGL texture, for testing fix texture support: flip texture to make OpenGL happy (lower-left is origin) add path prefix to .obj loader, so materials/textures are loaded ok.
2016-04-27 03:52:52 +00:00
class TinyRenderer
{
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
public:
static void renderObjectDepth(TinyRenderObjectData& renderData);
static void renderObject(TinyRenderObjectData& renderData);
patch TinyRenderer so it software-renders in an OpenGL texture, for testing fix texture support: flip texture to make OpenGL happy (lower-left is origin) add path prefix to .obj loader, so materials/textures are loaded ok.
2016-04-27 03:52:52 +00:00
};
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
#endif // TINY_RENDERER_Hbla
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