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Code Issues Releases Wiki Activity

Add default specular when there is not specular map. Add example for adjusting specular coefficient.

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This commit is contained in:
yunfeibai 2017-05-07 21:09:08 -07:00
parent 67392b85d5
commit e363e12ea4
5 changed files with 47 additions and 4 deletions
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6
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -1208,13 +1208,17 @@ int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyId)
return cl->getNumJoints(bodyId);
}
int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
return cl->getJointInfo(bodyIndex, jointIndex, *info);
}
int b3GetDynamicInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, struct b3DynamicInfo* info)
{
return 0;
}
b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;

35
examples/SharedMemory/PhysicsClientExample.cpp
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@ -53,6 +53,9 @@ protected:
int m_canvasRGBIndex;
int m_canvasDepthIndex;
int m_canvasSegMaskIndex;
float m_lightPos[3];
float m_specularCoeff;
void createButton(const char* name, int id, bool isTrigger );
@ -257,7 +260,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
case CMD_LOAD_SDF:
{
#ifdef BT_DEBUG
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.sdf");
#else
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kitchens/1.sdf");//two_cubes.sdf");//kitchens/1.sdf");//kuka_iiwa/model.sdf");
#endif
@ -278,6 +281,8 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
b3RequestCameraImageSetLightDirection(commandHandle, m_lightPos);
b3RequestCameraImageSetLightSpecularCoeff(commandHandle, m_specularCoeff);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
@ -522,6 +527,7 @@ m_canvas(0),
m_canvasRGBIndex(-1),
m_canvasDepthIndex(-1),
m_canvasSegMaskIndex(-1),
m_specularCoeff(1.0),
m_numMotors(0),
m_options(options),
m_isOptionalServerConnected(false)
@ -660,6 +666,29 @@ void PhysicsClientExample::createButtons()
}
}
}
{
SliderParams sliderLightPosX("light source position x",&m_lightPos[0]);
SliderParams sliderLightPosY("light source position y",&m_lightPos[1]);
SliderParams sliderLightPosZ("light source position z",&m_lightPos[2]);
SliderParams sliderSpecularCoeff("specular coefficient",&m_specularCoeff);
sliderLightPosX.m_minVal=-1.5;
sliderLightPosX.m_maxVal=1.5;
sliderLightPosY.m_minVal=-1.5;
sliderLightPosY.m_maxVal=1.5;
sliderLightPosZ.m_minVal=-1.5;
sliderLightPosZ.m_maxVal=1.5;
sliderSpecularCoeff.m_minVal=0;
sliderSpecularCoeff.m_maxVal=5.0;
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderLightPosX);
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderLightPosY);
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderLightPosZ);
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderSpecularCoeff);
}
}
}
}
@ -684,6 +713,10 @@ void PhysicsClientExample::initPhysics()
m_selectedBody = -1;
m_prevSelectedBody = -1;
m_lightPos[0] = 1.0;
m_lightPos[1] = 1.0;
m_lightPos[2] = 1.0;
{
m_canvas = m_guiHelper->get2dCanvasInterface();

1
examples/SharedMemory/SharedMemoryCommands.h
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@ -832,6 +832,7 @@ struct SharedMemoryStatus
struct StateLoggingResultArgs m_stateLoggingResultArgs;
struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
struct b3ObjectArgs m_removeObjectArgs;
struct b3DynamicInfo m_dynamicInfo;
};
};

1
examples/SharedMemory/SharedMemoryPublic.h
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@ -224,6 +224,7 @@ struct b3DynamicInfo
{
double m_mass;
double m_localInertialPosition[3];
double m_lateralFrictionCoeff;
};
// copied from btMultiBodyLink.h

8
examples/TinyRenderer/model.cpp
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@ -167,8 +167,12 @@ Vec2f Model::uv(int iface, int nthvert) {
}
float Model::specular(Vec2f uvf) {
Vec2i uv(uvf[0]*specularmap_.get_width(), uvf[1]*specularmap_.get_height());
return specularmap_.get(uv[0], uv[1])[0]/1.f;
if (specularmap_.get_width() && specularmap_.get_height())
{
Vec2i uv(uvf[0]*specularmap_.get_width(), uvf[1]*specularmap_.get_height());
return specularmap_.get(uv[0], uv[1])[0]/1.f;
}
return 2.0;
}
Vec3f Model::normal(int iface, int nthvert) {