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Code Issues Releases Wiki Activity

Implement first pass of transparent graphics object for GLInstancingRenderer

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remove 'enableBlend' from API, graphics instances use alpha component instead
fix forward axis for SimpleCamera
This commit is contained in:
erwincoumans 2017-06-24 13:41:33 -07:00
parent c777e61d48
commit a651cb9ab4
17 changed files with 192 additions and 39 deletions
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2
examples/CommonInterfaces/CommonRenderInterface.h
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@ -86,7 +86,7 @@ struct CommonRenderInterface
virtual int getTotalNumInstances() const = 0;
virtual void writeTransforms()=0;
virtual void enableBlend(bool blend)=0;
virtual void clearZBuffer()=0;
//This is internal access to OpenGL3+ features, mainly used for OpenCL-OpenGL interop

1
examples/InverseKinematics/InverseKinematicsExample.cpp
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@ -198,7 +198,6 @@ public:
}
virtual ~InverseKinematicsExample()
{
m_app->m_renderer->enableBlend(false);
}

2
examples/MultiThreading/MultiThreadingExample.cpp
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@ -176,14 +176,12 @@ public:
//int numBodies = 1;
m_app->setUpAxis(1);
m_app->m_renderer->enableBlend(true);
}
virtual ~MultiThreadingExample()
{
m_app->m_renderer->enableBlend(false);
}

85
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@ -115,6 +115,10 @@ static InternalDataRenderer* sData2;
GLint lineWidthRange[2]={1,1};
enum
{
eGfxTransparency=1
};
struct b3GraphicsInstance
{
GLuint m_cube_vao;
@ -124,6 +128,7 @@ struct b3GraphicsInstance
int m_numIndices;
int m_numVertices;
int m_numGraphicsInstances;
b3AlignedObjectArray<int> m_tempObjectUids;
int m_instanceOffset;
@ -131,6 +136,7 @@ struct b3GraphicsInstance
int m_primitiveType;
float m_materialShinyNess;
b3Vector3 m_materialSpecularColor;
int m_flags;//transparency etc
b3GraphicsInstance()
:m_cube_vao(-1),
@ -143,7 +149,8 @@ struct b3GraphicsInstance
m_vertexArrayOffset(0),
m_primitiveType(B3_GL_TRIANGLES),
m_materialShinyNess(41),
m_materialSpecularColor(b3MakeVector3(.5,.5,.5))
m_materialSpecularColor(b3MakeVector3(.5,.5,.5)),
m_flags(0)
{
}
@ -324,8 +331,7 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap
m_textureinitialized(false),
m_screenWidth(0),
m_screenHeight(0),
m_upAxis(1),
m_enableBlend(false)
m_upAxis(1)
{
m_data = new InternalDataRenderer;
@ -865,6 +871,10 @@ int GLInstancingRenderer::registerGraphicsInstanceInternal(int newUid, const flo
m_data->m_instance_scale_ptr[index*3+1] = scaling[1];
m_data->m_instance_scale_ptr[index*3+2] = scaling[2];
if (color[3]<1 && color[3]>0)
{
gfxObj->m_flags |= eGfxTransparency;
}
gfxObj->m_numGraphicsInstances++;
m_data->m_totalNumInstances++;
} else
@ -1898,7 +1908,24 @@ void GLInstancingRenderer::drawLine(const float from[4], const float to[4], cons
glUseProgram(0);
}
struct SortableTransparentInstance
{
int m_shapeIndex;
int m_instanceId;
b3Vector3 m_centerPosition;
};
struct TransparentDistanceSortPredicate
{
b3Vector3 m_camForwardVec;
inline bool operator() (const SortableTransparentInstance& a, const SortableTransparentInstance& b) const
{
b3Scalar projA = a.m_centerPosition.dot(m_camForwardVec);
b3Scalar projB = b.m_centerPosition.dot(m_camForwardVec);
return (projA > projB);
}
};
void GLInstancingRenderer::renderSceneInternal(int renderMode)
{
@ -2218,8 +2245,9 @@ b3Assert(glGetError() ==GL_NO_ERROR);
case B3_USE_SHADOWMAP_RENDERMODE:
{
if (m_enableBlend)
if ( gfxObj->m_flags&eGfxTransparency)
{
glDepthMask(false);
glEnable (GL_BLEND);
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
}
@ -2249,10 +2277,55 @@ b3Assert(glGetError() ==GL_NO_ERROR);
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, m_data->m_shadowTexture);
glUniform1i(useShadow_shadowMap,1);
glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
if (m_enableBlend)
//sort transparent objects
//gfxObj->m_instanceOffset
if ( gfxObj->m_flags&eGfxTransparency)
{
b3AlignedObjectArray<SortableTransparentInstance> transparentInstances;
transparentInstances.reserve(gfxObj->m_numGraphicsInstances);
for (int i=0;i<gfxObj->m_numGraphicsInstances;i++)
{
SortableTransparentInstance inst;
inst.m_shapeIndex = -1;
inst.m_instanceId = curOffset+i;
inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
transparentInstances.push_back(inst);
}
TransparentDistanceSortPredicate sorter;
float fwd[3];
m_data->m_activeCamera->getCameraForwardVector(fwd);
sorter.m_camForwardVec.setValue(fwd[0],fwd[1],fwd[2]);
transparentInstances.quickSort(sorter);
for (int i=0;i<transparentInstances.size();i++)
{
int instanceId = transparentInstances[i].m_instanceId;
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes));
glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE));
glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
}
} else
{
glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
}
if ( gfxObj->m_flags&eGfxTransparency)
{
glDisable (GL_BLEND);
glDepthMask(true);
}
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D,0);

7
examples/OpenGLWindow/GLInstancingRenderer.h
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@ -39,7 +39,7 @@ class GLInstancingRenderer : public CommonRenderInterface
int m_screenHeight;
int m_upAxis;
bool m_enableBlend;
int registerGraphicsInstanceInternal(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
void rebuildGraphicsInstances();
@ -147,10 +147,7 @@ public:
virtual int getTotalNumInstances() const;
virtual void enableShadowMap();
virtual void enableBlend(bool blend)
{
m_enableBlend = blend;
}
virtual void clearZBuffer();
virtual void setRenderFrameBuffer(unsigned int renderFrameBuffer);

15
examples/OpenGLWindow/SimpleCamera.cpp
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@ -234,8 +234,15 @@ void SimpleCamera::update()
b3Vector3 eyePos = b3MakeVector3(0,0,0);
eyePos[forwardAxis] = -m_data->m_cameraDistance;
eyePos = b3Matrix3x3(eyeRot)*eyePos;
m_data->m_cameraForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
m_data->m_cameraPosition = eyePos;
m_data->m_cameraPosition+= m_data->m_cameraTargetPosition;
m_data->m_cameraForward = m_data->m_cameraTargetPosition-m_data->m_cameraPosition;
if (m_data->m_cameraForward.length2() < B3_EPSILON)
{
m_data->m_cameraForward.setValue(1.f,0.f,0.f);
@ -243,12 +250,6 @@ void SimpleCamera::update()
{
m_data->m_cameraForward.normalize();
}
eyePos = b3Matrix3x3(eyeRot)*eyePos;
m_data->m_cameraPosition = eyePos;
m_data->m_cameraPosition+= m_data->m_cameraTargetPosition;
}
void SimpleCamera::getCameraProjectionMatrix(float projectionMatrix[16]) const

3
examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
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@ -676,9 +676,6 @@ void SimpleOpenGL2Renderer::updateShape(int shapeIndex, const float* vertices)
}
}
void SimpleOpenGL2Renderer::enableBlend(bool blend)
{
}
void SimpleOpenGL2Renderer::clearZBuffer()
{

3
examples/OpenGLWindow/SimpleOpenGL2Renderer.h
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@ -83,8 +83,7 @@ public:
virtual void updateShape(int shapeIndex, const float* vertices);
virtual void enableBlend(bool blend);
virtual void clearZBuffer();

1
examples/RenderingExamples/CoordinateSystemDemo.cpp
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@ -37,7 +37,6 @@ public:
}
virtual ~CoordinateSystemDemo()
{
m_app->m_renderer->enableBlend(false);
}

1
examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
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@ -66,7 +66,6 @@ public:
virtual ~DynamicTexturedCubeDemo()
{
delete m_tinyVrGUI;
m_app->m_renderer->enableBlend(false);
}

1
examples/RenderingExamples/RenderInstancingDemo.cpp
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@ -68,7 +68,6 @@ public:
}
virtual ~RenderInstancingDemo()
{
m_app->m_renderer->enableBlend(false);
}

2
examples/RenderingExamples/TinyRendererSetup.cpp
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@ -154,7 +154,6 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* 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 = "textured_sphere_smooth.obj";
fileName = "cube.obj";
@ -225,7 +224,6 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
TinyRendererSetup::~TinyRendererSetup()
{
m_app->m_renderer->enableBlend(false);
delete m_internalData;
}

1
examples/RoboticsLearning/GripperGraspExample.cpp
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@ -45,7 +45,6 @@ public:
}
virtual ~GripperGraspExample()
{
m_app->m_renderer->enableBlend(false);
}

1
examples/RoboticsLearning/KukaGraspExample.cpp
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@ -54,7 +54,6 @@ public:
}
virtual ~KukaGraspExample()
{
m_app->m_renderer->enableBlend(false);
}

1
examples/RoboticsLearning/R2D2GraspExample.cpp
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@ -41,7 +41,6 @@ public:
}
virtual ~R2D2GraspExample()
{
m_app->m_renderer->enableBlend(false);
}

12
examples/Tutorial/Tutorial.cpp
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@ -300,7 +300,6 @@ public:
int numBodies = 1;
m_app->setUpAxis(1);
m_app->m_renderer->enableBlend(true);
switch (m_tutorialIndex)
{
@ -405,7 +404,7 @@ public:
{
int width,height,n;
const char* filename = "data/cube.png";
const char* filename = "data/checker_huge.gif";
const unsigned char* image=0;
const char* prefix[]={"./","../","../../","../../../","../../../../"};
@ -427,10 +426,16 @@ public:
// int boxId = m_app->registerCubeShape(1,1,1,textureIndex);
int boxId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex);
b3Vector4 color = b3MakeVector4(1,1,1,0.8);
b3Vector3 scaling = b3MakeVector3(SPHERE_RADIUS,SPHERE_RADIUS,SPHERE_RADIUS);
for (int i=0;i<m_bodies.size();i++)
{
b3Vector4 color = b3MakeVector4(1,1,1,0.6);
if (i%2)
{
color.setValue(1,.1,.1,0.8);
}
m_bodies[i]->m_collisionShape.m_sphere.m_radius = SPHERE_RADIUS;
m_bodies[i]->m_collisionShape.m_type = LW_SPHERE_TYPE;
@ -467,7 +472,6 @@ public:
m_timeSeriesCanvas0 = 0;
m_timeSeriesCanvas1 = 0;
m_app->m_renderer->enableBlend(false);
}

93
examples/pybullet/examples/vr_racecar_differential.py Normal file
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@ -0,0 +1,93 @@
import pybullet as p
import time
CONTROLLER_ID = 0
POSITION=1
ORIENTATION=2
BUTTONS=6
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
p.connect(p.GUI)
p.resetSimulation()
p.setGravity(0,0,-10)
useRealTimeSim = 1
#for video recording (works best on Mac and Linux, not well on Windows)
#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
p.setRealTimeSimulation(useRealTimeSim) # either this
p.loadURDF("plane.urdf")
#p.loadSDF("stadium.sdf")
car = p.loadURDF("racecar/racecar_differential.urdf") #, [0,0,2],useFixedBase=True)
for i in range (p.getNumJoints(car)):
print (p.getJointInfo(car,i))
for wheel in range(p.getNumJoints(car)):
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
p.getJointInfo(car,wheel)
wheels = [8,15]
print("----------------")
#p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=1, maxForce=10000)
c = p.createConstraint(car,10,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,9,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=1, maxForce=10000)
c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,1,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
c = p.createConstraint(car,3,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)
steering = [0,2]
targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-50,50,0)
maxForceSlider = p.addUserDebugParameter("maxForce",0,50,20)
steeringSlider = p.addUserDebugParameter("steering",-1,1,0)
activeController = -1
while (True):
maxForce = p.readUserDebugParameter(maxForceSlider)
targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
steeringAngle = p.readUserDebugParameter(steeringSlider)
#print(targetVelocity)
events = p.getVREvents()
for e in events:
if (e[BUTTONS][33]&p.VR_BUTTON_WAS_TRIGGERED):
activeController = e[CONTROLLER_ID]
if (activeController == e[CONTROLLER_ID]):
orn = e[2]
eul = p.getEulerFromQuaternion(orn)
steeringAngle=eul[0]
targetVelocity = 20.0*e[3]
for wheel in wheels:
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=maxForce)
for steer in steering:
p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=-steeringAngle)
steering
if (useRealTimeSim==0):
p.stepSimulation()
time.sleep(0.01)