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Merge pull request #1852 from RanTig/remove-visual-shape

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Removes visual shape data when a body gets removed.
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erwincoumans 2018-09-04 09:42:48 -07:00 committed by GitHub
commit c4842220a8
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1 changed files with 32 additions and 56 deletions
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88
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@ -67,7 +67,8 @@ struct TinyRendererVisualShapeConverterInternalData
btHashMap<btHashInt,TinyRendererObjectArray*> m_swRenderInstances; btHashMap<btHashInt,TinyRendererObjectArray*> m_swRenderInstances;
btAlignedObjectArray<b3VisualShapeData> m_visualShapes; // Maps bodyUniqueId to a list of visual shapes belonging to the body.
btHashMap<btHashInt,btAlignedObjectArray<b3VisualShapeData> > m_visualShapesMap;
int m_upAxis; int m_upAxis;
int m_swWidth; int m_swWidth;
@ -710,82 +711,56 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
visualShape.m_tinyRendererTextureId = m_data->m_textures.size(); visualShape.m_tinyRendererTextureId = m_data->m_textures.size();
m_data->m_textures.push_back(textures[i]); m_data->m_textures.push_back(textures[i]);
} }
m_data->m_visualShapes.push_back(visualShape); btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[visualShape.m_objectUniqueId];
if (!shapes) {
m_data->m_visualShapesMap.insert(visualShape.m_objectUniqueId, btAlignedObjectArray<b3VisualShapeData>());
shapes = m_data->m_visualShapesMap[visualShape.m_objectUniqueId];
} }
shapes->push_back(visualShape);
}
} }
} }
int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId) int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
{ {
int start = -1; btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[bodyUniqueId];
//find first one, then count how many if (shapes) {
for (int i = 0; i < m_data->m_visualShapes.size(); i++) return shapes->size();
{
if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId)
{
start = i;
break;
} }
} return 0;
int count = 0;
if (start >= 0)
{
for (int i = start; i < m_data->m_visualShapes.size(); i++)
{
if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId)
{
count++;
}
else
{
//storage of each visual shape for a given body unique id assumed to be contiguous
break;
}
}
}
return count;
} }
int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData) int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)
{ {
int start = -1; btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[bodyUniqueId];
//find first one, then count how many if (!shapes) {
for (int i = 0; i < m_data->m_visualShapes.size(); i++)
{
if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId)
{
start = i;
break;
}
}
//int count = 0;
if (start >= 0)
{
if (start + shapeIndex < m_data->m_visualShapes.size())
{
*shapeData = m_data->m_visualShapes[start + shapeIndex];
return 1;
}
}
return 0; return 0;
} }
if (shapes->size() <= shapeIndex) {
return 0;
}
*shapeData = shapes->at(shapeIndex);
return 1;
}
void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4]) void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])
{ {
btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[bodyUniqueId];
if (!shapes) {
return;
}
int start = -1; int start = -1;
for (int i = 0; i < m_data->m_visualShapes.size(); i++) for (int i = 0; i < shapes->size(); i++)
{ {
if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId && m_data->m_visualShapes[i].m_linkIndex == linkIndex) if (shapes->at(i).m_linkIndex == linkIndex)
{ {
m_data->m_visualShapes[i].m_rgbaColor[0] = rgbaColor[0]; shapes->at(i).m_rgbaColor[0] = rgbaColor[0];
m_data->m_visualShapes[i].m_rgbaColor[1] = rgbaColor[1]; shapes->at(i).m_rgbaColor[1] = rgbaColor[1];
m_data->m_visualShapes[i].m_rgbaColor[2] = rgbaColor[2]; shapes->at(i).m_rgbaColor[2] = rgbaColor[2];
m_data->m_visualShapes[i].m_rgbaColor[3] = rgbaColor[3]; shapes->at(i).m_rgbaColor[3] = rgbaColor[3];
} }
} }
@ -1143,6 +1118,7 @@ void TinyRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniq
TinyRendererObjectArray* ptr = *ptrptr; TinyRendererObjectArray* ptr = *ptrptr;
if (ptr) if (ptr)
{ {
m_data->m_visualShapesMap.remove(ptr->m_objectUniqueId);
for (int o=0;o<ptr->m_renderObjects.size();o++) for (int o=0;o<ptr->m_renderObjects.size();o++)
{ {
delete ptr->m_renderObjects[o]; delete ptr->m_renderObjects[o];
@ -1182,7 +1158,7 @@ void TinyRendererVisualShapeConverter::resetAll()
} }
m_data->m_textures.clear(); m_data->m_textures.clear();
m_data->m_swRenderInstances.clear(); m_data->m_swRenderInstances.clear();
m_data->m_visualShapes.clear(); m_data->m_visualShapesMap.clear();
} }