mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
4a705d1e03
Fix uninitialized variable jointDamping/jointFriction in SDF importer Add SDF <pose> parsing in visual, inertial, collision elements. Slight improvement in TinyRender loading performance of largish meshes (30k vertices) Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is. b3RobotSimAPI support SDF file loading Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures
55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
#ifndef __MODEL_H__
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#define __MODEL_H__
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#include <vector>
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#include <string>
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#include "geometry.h"
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#include "tgaimage.h"
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class Model {
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private:
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std::vector<Vec3f> verts_;
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std::vector<std::vector<Vec3i> > faces_; // attention, this Vec3i means vertex/uv/normal
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std::vector<Vec3f> norms_;
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std::vector<Vec2f> uv_;
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TGAImage diffusemap_;
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TGAImage normalmap_;
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TGAImage specularmap_;
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Vec4f m_colorRGBA;
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void load_texture(std::string filename, const char *suffix, TGAImage &img);
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public:
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Model(const char *filename);
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Model();
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void setColorRGBA(const float rgba[4])
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{
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for (int i=0;i<4;i++)
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m_colorRGBA[i] = rgba[i];
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}
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const Vec4f& getColorRGBA() const
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{
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return m_colorRGBA;
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}
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void loadDiffuseTexture(const char* relativeFileName);
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void setDiffuseTextureFromData(unsigned char* textureImage,int textureWidth,int textureHeight);
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void reserveMemory(int numVertices, int numIndices);
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void addVertex(float x,float y,float z, float normalX, float normalY, float normalZ, float u, float v);
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void addTriangle(int vertexposIndex0, int normalIndex0, int uvIndex0,
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int vertexposIndex1, int normalIndex1, int uvIndex1,
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int vertexposIndex2, int normalIndex2, int uvIndex2);
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~Model();
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int nverts();
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int nfaces();
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Vec3f normal(int iface, int nthvert);
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Vec3f normal(Vec2f uv);
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Vec3f vert(int i);
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Vec3f vert(int iface, int nthvert);
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Vec2f uv(int iface, int nthvert);
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TGAColor diffuse(Vec2f uv);
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float specular(Vec2f uv);
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std::vector<int> face(int idx);
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};
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#endif //__MODEL_H__
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