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Code Issues Releases Wiki Activity

Expose API to set projective texture instead of using global.

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This commit is contained in:
yunfeibai 2018-03-20 21:28:47 -07:00
parent e42a934e16
commit 6b97e1e604
12 changed files with 33 additions and 13 deletions
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2
Extras/BulletRobotics/CMakeLists.txt
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@ -166,7 +166,7 @@ SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS)
TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics OpenGLWindow LinearMath Bullet3Common)
TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
ENDIF (BUILD_SHARED_LIBS)
IF (INSTALL_EXTRA_LIBS)

5
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@ -95,6 +95,7 @@ struct GUIHelperInterface
int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied){}
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])=0;
virtual void setProjectiveTexture(bool useProjectiveTexture)=0;
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
@ -183,6 +184,10 @@ struct DummyGUIHelper : public GUIHelperInterface
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
{
}
virtual void setProjectiveTexture(bool useProjectiveTexture)
{
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{

1
examples/CommonInterfaces/CommonRenderInterface.h
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@ -50,6 +50,7 @@ struct CommonRenderInterface
virtual void setLightPosition(const float lightPos[3]) = 0;
virtual void setLightPosition(const double lightPos[3]) = 0;
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]){};
virtual void setProjectiveTexture(bool useProjectiveTexture){};
virtual void renderScene()=0;
virtual void renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE){};

5
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@ -1103,6 +1103,11 @@ void OpenGLGuiHelper::setProjectiveTextureMatrices(const float viewMatrix[16], c
m_data->m_glApp->m_renderer->setProjectiveTextureMatrices(viewMatrix, projectionMatrix);
}
void OpenGLGuiHelper::setProjectiveTexture(bool useProjectiveTexture)
{
m_data->m_glApp->m_renderer->setProjectiveTexture(useProjectiveTexture);
}
void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels,

1
examples/ExampleBrowser/OpenGLGuiHelper.h
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@ -63,6 +63,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
int destinationHeight, int* numPixelsCopied);
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
virtual void setProjectiveTexture(bool useProjectiveTexture);
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;

11
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@ -17,7 +17,6 @@ subject to the following restrictions:
///todo: make this configurable in the gui
bool useShadowMap = true;// true;//false;//true;
bool useProjectiveTexture = false;
int shadowMapWidth= 4096;
int shadowMapHeight= 4096;
float shadowMapWorldSize=10;
@ -228,6 +227,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
GLfloat m_projectiveTextureProjectionMatrix[16];
GLfloat m_projectiveTextureViewMatrix[16];
GLfloat m_viewMatrixInverse[16];
bool m_useProjectiveTexture;
b3Vector3 m_lightPos;
b3Vector3 m_lightSpecularIntensity;
@ -263,6 +263,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
m_projectiveTextureViewMatrix[i]=0;
}
m_useProjectiveTexture = false;
}
@ -1479,6 +1480,12 @@ void GLInstancingRenderer::setProjectiveTextureMatrices(const float viewMatrix[1
}
}
void GLInstancingRenderer::setProjectiveTexture(bool useProjectiveTexture)
{
m_data->m_useProjectiveTexture = useProjectiveTexture;
useShadowMap = !useProjectiveTexture;
}
void GLInstancingRenderer::updateCamera(int upAxis)
{
@ -1595,7 +1602,7 @@ void GLInstancingRenderer::renderScene()
renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
}
else if (useProjectiveTexture)
else if (m_data->m_useProjectiveTexture)
{
renderSceneInternal(B3_USE_PROJECTIVE_TEXTURE_RENDERMODE);
}

1
examples/OpenGLWindow/GLInstancingRenderer.h
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@ -132,6 +132,7 @@ public:
virtual void setLightPosition(const double lightPos[3]);
void setLightSpecularIntensity(const float lightSpecularIntensity[3]);
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
virtual void setProjectiveTexture(bool useProjectiveTexture);
virtual void resize(int width, int height);
virtual int getScreenWidth()

2
examples/RobotSimulator/CMakeLists.txt
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@ -116,7 +116,7 @@ ELSE()
ENDIF(APPLE)
ENDIF(WIN32)
TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow Bullet3Common)
TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath Bullet3Common)

2
examples/SharedMemory/CMakeLists.txt
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@ -97,7 +97,7 @@ IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ENDIF()
LINK_LIBRARIES(
Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath OpenGLWindow BussIK
Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
)

9
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -1,6 +1,5 @@
#include "PhysicsServerCommandProcessor.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../OpenGLWindow/GLInstancingRenderer.h"
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
@ -3108,8 +3107,6 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
return hasStatus;
}
extern bool useShadowMap;
extern bool useProjectiveTexture;
bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
@ -3195,8 +3192,7 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
{
if ((flags & ER_USE_PROJECTIVE_TEXTURE) != 0)
{
useShadowMap = false;
useProjectiveTexture = true;
this->m_data->m_guiHelper->setProjectiveTexture(true);
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES)!=0)
{
for (int i=0;i<16;i++)
@ -3217,8 +3213,7 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
}
else
{
useShadowMap = true;
useProjectiveTexture = false;
this->m_data->m_guiHelper->setProjectiveTexture(false);
}
m_data->m_guiHelper->copyCameraImageData(viewMat,

5
examples/SharedMemory/PhysicsServerExample.cpp
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@ -1124,6 +1124,11 @@ public:
{
m_childGuiHelper->getAppInterface()->m_renderer->setProjectiveTextureMatrices(viewMatrix, projectionMatrix);
}
virtual void setProjectiveTexture(bool useProjectiveTexture)
{
m_childGuiHelper->getAppInterface()->m_renderer->setProjectiveTexture(useProjectiveTexture);
}
btDiscreteDynamicsWorld* m_dynamicsWorld;

2
test/SharedMemory/CMakeLists.txt
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@ -16,7 +16,7 @@ IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ENDIF()
LINK_LIBRARIES(
BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest OpenGLWindow BussIK
BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest BussIK
)
IF (NOT WIN32)