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Code Issues Releases Wiki Activity

expose the changeVisualShape RGBA color for TinyRenderer, OpenGL3 renderer.

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This commit is contained in:
Erwin Coumans 2017-05-13 09:18:36 -07:00
parent 7cb763e4c8
commit f80838e989
14 changed files with 149 additions and 33 deletions
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4
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@ -38,7 +38,8 @@ struct GUIHelperInterface
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0;
virtual void removeAllGraphicsInstances()=0;
virtual void removeGraphicsInstance(int graphicsUid) {}
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
virtual CommonParameterInterface* getParameterInterface()=0;
@ -125,6 +126,7 @@ struct DummyGUIHelper : public GUIHelperInterface
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) {return -1;}
virtual void removeAllGraphicsInstances(){}
virtual void removeGraphicsInstance(int graphicsUid){}
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
virtual Common2dCanvasInterface* get2dCanvasInterface()
{

8
examples/CommonInterfaces/CommonRenderInterface.h
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@ -55,10 +55,10 @@ struct CommonRenderInterface
virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)=0;
virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0;
virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex)=0;
virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex)=0;
virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex)=0;
virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex)=0;
virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex)=0;
virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex)=0;
virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex)=0;
virtual int getTotalNumInstances() const = 0;

8
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@ -314,6 +314,14 @@ void OpenGLGuiHelper::removeGraphicsInstance(int graphicsUid)
};
}
void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4])
{
if (instanceUid>=0)
{
m_data->m_glApp->m_renderer->writeSingleInstanceColorToCPU(rgbaColor,instanceUid);
};
}
int OpenGLGuiHelper::createCheckeredTexture(int red,int green, int blue)
{
int texWidth=1024;

3
examples/ExampleBrowser/OpenGLGuiHelper.h
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@ -26,7 +26,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
virtual void removeAllGraphicsInstances();
virtual void removeGraphicsInstance(int graphicsUid);
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);

8
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@ -375,7 +375,7 @@ void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int bodyUniqueId,
orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex*4+2];
orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex*4+3];
}
void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int bodyUniqueId)
void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, int bodyUniqueId)
{
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
b3Assert(pg);
@ -387,7 +387,7 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int body
m_data->m_instance_colors_ptr[srcIndex*4+3]=float(color[3]);
}
void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int bodyUniqueId)
void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int bodyUniqueId)
{
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
b3Assert(pg);
@ -399,7 +399,7 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int bodyU
m_data->m_instance_colors_ptr[srcIndex*4+3]=color[3];
}
void GLInstancingRenderer::writeSingleInstanceScaleToCPU(float* scale, int bodyUniqueId)
void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const float* scale, int bodyUniqueId)
{
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
b3Assert(pg);
@ -410,7 +410,7 @@ void GLInstancingRenderer::writeSingleInstanceScaleToCPU(float* scale, int bodyU
m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
}
void GLInstancingRenderer::writeSingleInstanceScaleToCPU(double* scale, int bodyUniqueId)
void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const double* scale, int bodyUniqueId)
{
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
b3Assert(pg);

8
examples/OpenGLWindow/GLInstancingRenderer.h
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@ -98,11 +98,11 @@ public:
virtual void writeSingleInstanceTransformToGPU(float* position, float* orientation, int srcIndex);
virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
virtual struct GLInstanceRendererInternalData* getInternalData();

8
examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
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@ -139,18 +139,18 @@ void SimpleOpenGL2Renderer::removeGraphicsInstance(int instanceUid)
m_data->m_graphicsInstancesPool.freeHandle(instanceUid);
}
void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(float* color, int srcIndex)
void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(const float* color, int srcIndex)
{
}
void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(double* color, int srcIndex)
void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(const double* color, int srcIndex)
{
}
void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(float* scale, int srcIndex)
void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(const float* scale, int srcIndex)
{
}
void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(double* scale, int srcIndex)
void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(const double* scale, int srcIndex)
{
}

8
examples/OpenGLWindow/SimpleOpenGL2Renderer.h
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@ -34,10 +34,10 @@ public:
virtual void removeAllInstances();
virtual void removeGraphicsInstance(int instanceUid);
virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex);
virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
virtual void getCameraViewMatrix(float viewMat[16]) const;
virtual void getCameraProjectionMatrix(float projMat[16]) const;

21
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -2320,9 +2320,30 @@ b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physCl
command->m_updateVisualShapeDataArguments.m_shapeIndex = shapeIndex;
command->m_updateVisualShapeDataArguments.m_textureUniqueId = textureUniqueId;
command->m_updateFlags = 0;
if (textureUniqueId>=0)
{
command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_TEXTURE;
}
return (b3SharedMemoryCommandHandle) command;
}
void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_UPDATE_VISUAL_SHAPE);
if (command->m_type == CMD_UPDATE_VISUAL_SHAPE)
{
command->m_updateVisualShapeDataArguments.m_rgbaColor[0] = rgbaColor[0];
command->m_updateVisualShapeDataArguments.m_rgbaColor[1] = rgbaColor[1];
command->m_updateVisualShapeDataArguments.m_rgbaColor[2] = rgbaColor[2];
command->m_updateVisualShapeDataArguments.m_rgbaColor[3] = rgbaColor[3];
command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR;
}
}
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;

1
examples/SharedMemory/PhysicsClientC_API.h
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@ -198,6 +198,7 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]);
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);

49
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -5585,9 +5585,52 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED;
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
{
if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId>=0)
{
m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
}
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{
int bodyUniqueId = clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId;
int linkIndex = clientCmd.m_updateVisualShapeDataArguments.m_jointIndex;
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (bodyHandle)
{
if (bodyHandle->m_multiBody)
{
if (linkIndex==-1)
{
if (bodyHandle->m_multiBody->getBaseCollider())
{
//m_data->m_visualConverter.changeRGBAColor(...)
int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
} else
{
if (linkIndex<bodyHandle->m_multiBody->getNumLinks())
{
if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
{
//m_data->m_visualConverter.changeRGBAColor(...)
int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
}
}
} else
{
//todo: change color for rigid body
}
}
}
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED;
hasStatus = true;
break;

24
examples/SharedMemory/PhysicsServerExample.cpp
View File

@ -180,6 +180,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIUserDebugRemoveAllItems,
eGUIDumpFramesToVideo,
eGUIHelperRemoveGraphicsInstance,
eGUIHelperChangeGraphicsInstanceRGBAColor,
};
@ -788,6 +789,20 @@ public:
workerThreadWait();
}
double m_rgbaColor[4];
int m_graphicsInstanceChangeColor;
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4])
{
m_graphicsInstanceChangeColor = instanceUid;
m_rgbaColor[0] = rgbaColor[0];
m_rgbaColor[1] = rgbaColor[1];
m_rgbaColor[2] = rgbaColor[2];
m_rgbaColor[3] = rgbaColor[3];
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperChangeGraphicsInstanceRGBAColor);
workerThreadWait();
}
virtual Common2dCanvasInterface* get2dCanvasInterface()
{
return 0;
@ -1573,8 +1588,13 @@ void PhysicsServerExample::updateGraphics()
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperChangeGraphicsInstanceRGBAColor:
{
m_multiThreadedHelper->m_childGuiHelper->changeRGBAColor(m_multiThreadedHelper->m_graphicsInstanceChangeColor,m_multiThreadedHelper->m_rgbaColor);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperCopyCameraImageData:
{

7
examples/SharedMemory/SharedMemoryCommands.h
View File

@ -245,12 +245,19 @@ struct RequestVisualShapeDataArgs
int m_startingVisualShapeIndex;
};
enum EnumUpdateVisualShapeData
{
CMD_UPDATE_VISUAL_SHAPE_TEXTURE=1,
CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR=2,
};
struct UpdateVisualShapeDataArgs
{
int m_bodyUniqueId;
int m_jointIndex;
int m_shapeIndex;
int m_textureUniqueId;
double m_rgbaColor[4];
};
struct LoadTextureArgs

25
examples/pybullet/pybullet.c
View File

@ -4027,7 +4027,7 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
return Py_None;
}
static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args, PyObject* keywds)
static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
{
int objectUniqueId = -1;
int jointIndex = -1;
@ -4037,9 +4037,11 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args, P
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int physicsClientId = 0;
PyObject* rgbaColorObj = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"objectUniqueId", "jointIndex", "shapeIndex", "textureUniqueId", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiii|i", kwlist, &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId, &physicsClientId))
static char* kwlist[] = {"objectUniqueId", "linkIndex", "shapeIndex", "textureUniqueId", "rgbaColor", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iiOi", kwlist, &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId, &rgbaColorObj, &physicsClientId))
{
return NULL;
}
@ -4052,6 +4054,14 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args, P
{
commandHandle = b3InitUpdateVisualShape(sm, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
if (rgbaColorObj)
{
double rgbaColor[4] = {1,1,1,1};
pybullet_internalSetVector4d(rgbaColorObj, rgbaColor);
b3UpdateVisualShapeRGBAColor(commandHandle,rgbaColor);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED)
@ -5913,7 +5923,7 @@ static PyMethodDef SpamMethods[] = {
"Reset the state (position, velocity etc) for a joint on a body "
"instantaneously, not through physics simulation."},
{"changeDynamicsInfo", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
{"changeDynamics", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"change dynamics information such as mass, lateral friction coefficient."},
{"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
@ -6019,8 +6029,11 @@ static PyMethodDef SpamMethods[] = {
{"getVisualShapeData", (PyCFunction)pybullet_getVisualShapeData, METH_VARARGS | METH_KEYWORDS,
"Return the visual shape information for one object."},
{"resetVisualShapeData", (PyCFunction)pybullet_resetVisualShapeData, METH_VARARGS | METH_KEYWORDS,
"Reset part of the visual shape information for one object."},
{"changeVisualShape", (PyCFunction)pybullet_changeVisualShape, METH_VARARGS | METH_KEYWORDS,
"Change part of the visual shape information for one object."},
{"resetVisualShapeData", (PyCFunction)pybullet_changeVisualShape, METH_VARARGS | METH_KEYWORDS,
"Obsolete method, kept for backward compatibility, use changeVisualShapeData instead."},
{"loadTexture", (PyCFunction)pybullet_loadTexture, METH_VARARGS | METH_KEYWORDS,
"Load texture file."},