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Merge pull request #646 from erwincoumans/master

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initial hookup of TinyRenderer to shared memory interface
This commit is contained in:
erwincoumans 2016-06-01 18:24:43 -07:00
commit 68932b0c0a
13 changed files with 129 additions and 40 deletions
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4
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@ -328,8 +328,8 @@ void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float c
void OpenGLGuiHelper::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
{
int w = m_data->m_glApp->m_window->getWidth();
int h = m_data->m_glApp->m_window->getHeight();
int w = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
int h = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
if (widthPtr)
*widthPtr = w;

1
examples/OpenGLWindow/SimpleOpenGL3App.cpp
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@ -659,6 +659,7 @@ SimpleOpenGL3App::~SimpleOpenGL3App()
void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes)
{
int width = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth();
int height = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenHeight();
if ((width*height*4) == bufferSizeInBytes)

4
examples/RenderingExamples/TinyRendererSetup.cpp
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@ -176,7 +176,7 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
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();
@ -189,7 +189,7 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
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);
meshData.m_gfxShape->m_numIndices,color, meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
m_internalData->m_renderObjects.push_back(ob);

2
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -687,7 +687,7 @@ b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physC
b3Assert(command);
command->m_type =CMD_REQUEST_CAMERA_IMAGE_DATA;
command->m_requestPixelDataArguments.m_startPixelIndex = 0;
command->m_updateFlags = REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL;
command->m_updateFlags = 0;//REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL;
return (b3SharedMemoryCommandHandle) command;
}

12
examples/SharedMemory/PhysicsClientExample.cpp
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@ -21,8 +21,8 @@ struct MyMotorInfo2
int m_qIndex;
};
int camVisualizerWidth = 1024/3;
int camVisualizerHeight = 768/3;
int camVisualizerWidth = 640;//1024/3;
int camVisualizerHeight = 480;//768/3;
#define MAX_NUM_MOTORS 128
@ -614,18 +614,20 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
for (int j=0;j<imageData.m_pixelHeight;j++)
{
int xIndex = int(float(i)*(float(camVisualizerWidth)/float(imageData.m_pixelWidth)));
int yIndex = int(float(j)*(float(camVisualizerHeight)/float(imageData.m_pixelHeight)));
int xIndex = int(float(i)*(float(camVisualizerWidth)/float(imageData.m_pixelWidth)));
int yIndex = int(float(j)*(float(camVisualizerHeight)/float(imageData.m_pixelHeight)));
btClamp(yIndex,0,imageData.m_pixelHeight);
btClamp(xIndex,0,imageData.m_pixelWidth);
int bytesPerPixel = 4;
int pixelIndex = (i+j*imageData.m_pixelWidth)*bytesPerPixel;
m_canvas->setPixel(m_canvasIndex,xIndex,camVisualizerHeight-1-yIndex,
imageData.m_rgbColorData[pixelIndex],
imageData.m_rgbColorData[pixelIndex+1],
imageData.m_rgbColorData[pixelIndex+2],
imageData.m_rgbColorData[pixelIndex+3]);
255);
// imageData.m_rgbColorData[pixelIndex+3]);
}
}
m_canvas->refreshImageData(m_canvasIndex);

10
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@ -438,12 +438,18 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
m_data->m_cachedCameraPixelsWidth = 0;
m_data->m_cachedCameraPixelsHeight = 0;
int numPixels = serverCmd.m_sendPixelDataArguments.m_imageWidth*serverCmd.m_sendPixelDataArguments.m_imageHeight;
m_data->m_cachedCameraPixelsRGBA.reserve(numPixels*numBytesPerPixel);
m_data->m_cachedCameraDepthBuffer.resize(numTotalPixels);
m_data->m_cachedCameraPixelsRGBA.resize(numTotalPixels*numBytesPerPixel);
unsigned char* rgbaPixelsReceived =
(unsigned char*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
printf("pixel = %d\n", rgbaPixelsReceived[0]);
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*numBytesPerPixel;i++)
{
m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel]

38
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -976,24 +976,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
m_data->m_guiHelper->copyCameraImageData(0,0,0,0,0,&width,&height,0);
}
//else
else
{
if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
{
printf("-------------------------------\nRendering\n");
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
{
m_data->m_visualConverter.render(
clientCmd.m_requestPixelDataArguments.m_viewMatrix,
clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
} else
{
m_data->m_visualConverter.render();
}
}
m_data->m_visualConverter.getWidthAndHeight(width,height);
}
@ -1015,7 +1000,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
m_data->m_guiHelper->copyCameraImageData(pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,&width,&height,&numPixelsCopied);
} else
{
if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
{
printf("-------------------------------\nRendering\n");
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
{
m_data->m_visualConverter.render(
clientCmd.m_requestPixelDataArguments.m_viewMatrix,
clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
} else
{
m_data->m_visualConverter.render();
}
}
m_data->m_visualConverter.copyCameraImageData(pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,&width,&height,&numPixelsCopied);
}
//each pixel takes 4 RGBA values and 1 float = 8 bytes

52
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@ -437,9 +437,14 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
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);
}
@ -458,7 +463,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
if (vertices.size() && indices.size())
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_swWidth,m_data->m_swHeight,m_data->m_rgbColorBuffer,m_data->m_depthBuffer);
tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size());
tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor);
visuals->m_renderObjects.push_back(tinyObj);
}
}
@ -579,6 +584,51 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
}
void TinyRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height)
{
width = m_data->m_swWidth;
height = m_data->m_swHeight;
}
void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
{
int w = m_data->m_rgbColorBuffer.get_width();
int h = m_data->m_rgbColorBuffer.get_height();
if (numPixelsCopied)
*numPixelsCopied = 0;
if (widthPtr)
*widthPtr = w;
if (heightPtr)
*heightPtr = h;
int numTotalPixels = w*h;
int numRemainingPixels = numTotalPixels - startPixelIndex;
int numBytesPerPixel = 4;//RGBA
int numRequestedPixels = btMin(rgbaBufferSizeInPixels,numRemainingPixels);
if (numRequestedPixels)
{
for (int i=0;i<numRequestedPixels;i++)
{
if (pixelsRGBA)
{
pixelsRGBA[i*numBytesPerPixel] = m_data->m_rgbColorBuffer.buffer()[(i+startPixelIndex)*3+0];
pixelsRGBA[i*numBytesPerPixel+1] = m_data->m_rgbColorBuffer.buffer()[(i+startPixelIndex)*3+1];
pixelsRGBA[i*numBytesPerPixel+2] = m_data->m_rgbColorBuffer.buffer()[(i+startPixelIndex)*3+2];
pixelsRGBA[i*numBytesPerPixel+3] = 255;
}
}
if (numPixelsCopied)
*numPixelsCopied = numRequestedPixels;
}
}
void TinyRendererVisualShapeConverter::resetAll()
{
//todo: free memory

4
examples/SharedMemory/TinyRendererVisualShapeConverter.h
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@ -23,6 +23,10 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
void resetAll();
void getWidthAndHeight(int& width, int& height);
void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
void render();
void render(const float viewMat[16], const float projMat[16]);

20
examples/TinyRenderer/TinyRenderer.cpp
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@ -25,20 +25,21 @@ struct Shader : public IShader {
Matrix& m_modelView1;
Matrix& m_projectionMatrix;
Vec3f m_localScaling;
//Vec3f m_localNormal;
Vec4f m_colorRGBA;
mat<2,3,float> varying_uv; // triangle uv coordinates, written by the vertex shader, read by the fragment shader
mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS
mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS
//mat<3,3,float> ndc_tri; // triangle in normalized device coordinates
Shader(Model* model, Vec3f light_dir_local, Matrix& modelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling)
Shader(Model* model, Vec3f light_dir_local, Matrix& modelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA)
:m_model(model),
m_light_dir_local(light_dir_local),
m_modelView1(modelView),
m_projectionMatrix(projectionMatrix),
m_modelMat(modelMat),
m_localScaling(localScaling)
m_localScaling(localScaling),
m_colorRGBA(colorRGBA)
{
m_invModelMat = m_modelMat.invert_transpose();
}
@ -75,6 +76,11 @@ struct Shader : public IShader {
float diff = ambient+b3Min(b3Max(0.f, bn*m_light_dir_local),(1-ambient));
//float diff = b3Max(0.f, n*m_light_dir_local);
color = m_model->diffuse(uv)*diff;
//colors are store in BGRA?
color = TGAColor(color[0]*m_colorRGBA[2],
color[1]*m_colorRGBA[1],
color[2]*m_colorRGBA[0],
color[3]*m_colorRGBA[3]);
return false;
}
@ -118,22 +124,24 @@ void TinyRenderObjectData::loadModel(const char* fileName)
}
void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices,
void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices, const float rgbaColor[4],
unsigned char* textureImage, int textureWidth, int textureHeight)
{
if (0==m_model)
{
m_model = new Model();
m_model->setColorRGBA(rgbaColor);
if (textureImage)
{
m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
} else
{
char relativeFileName[1024];
/*char relativeFileName[1024];
if (b3ResourcePath::findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
{
m_model->loadDiffuseTexture(relativeFileName);
}
*/
}
for (int i=0;i<numVertices;i++)
@ -254,7 +262,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
{
Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling);
Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA());
printf("Render %d triangles.\n",model->nfaces());
for (int i=0; i<model->nfaces(); i++)

2
examples/TinyRenderer/TinyRenderer.h
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@ -35,7 +35,7 @@ struct TinyRenderObjectData
void loadModel(const char* fileName);
void createCube(float HalfExtentsX,float HalfExtentsY,float HalfExtentsZ);
void registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices,
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);
void registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals,btAlignedObjectArray<int>& indices);

8
examples/TinyRenderer/model.cpp
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@ -130,8 +130,12 @@ void Model::load_texture(std::string filename, const char *suffix, TGAImage &img
}
TGAColor Model::diffuse(Vec2f uvf) {
Vec2i uv(uvf[0]*diffusemap_.get_width(), uvf[1]*diffusemap_.get_height());
return diffusemap_.get(uv[0], uv[1]);
if (diffusemap_.get_width() && diffusemap_.get_height())
{
Vec2i uv(uvf[0]*diffusemap_.get_width(), uvf[1]*diffusemap_.get_height());
return diffusemap_.get(uv[0], uv[1]);
}
return TGAColor(255,255,255,255);
}
Vec3f Model::normal(Vec2f uvf) {

12
examples/TinyRenderer/model.h
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@ -14,10 +14,22 @@ private:
TGAImage diffusemap_;
TGAImage normalmap_;
TGAImage specularmap_;
Vec4f m_colorRGBA;
void load_texture(std::string filename, const char *suffix, TGAImage &img);
public:
Model(const char *filename);
Model();
void setColorRGBA(const float rgba[4])
{
for (int i=0;i<4;i++)
m_colorRGBA[i] = rgba[i];
}
const Vec4f& getColorRGBA() const
{
return m_colorRGBA;
}
void loadDiffuseTexture(const char* relativeFileName);
void setDiffuseTextureFromData(unsigned char* textureImage,int textureWidth,int textureHeight);
void addVertex(float x,float y,float z, float normalX, float normalY, float normalZ, float u, float v);