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1452cae641
1) allow to render deformables in 'getCameraImage', for TinyRenderer (tested OK) and EGL (untested) 2) allow to have textures for deformables. See deformable_ball.py, deformable_anchor.py and deformable_torus.py for examples 3) deformables: allow to request simulation mesh data (even if there is a render mesh) See deformable_anchor.py for an example usage data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH) 4) fix deletion of deformables, thanks to Fychuyan, https://github.com/bulletphysics/bullet3/pull/3048 5) allow to enable and disable double-sided rendering, p.changeVisualShape(objectUid, linkIndex, flags=p.VISUAL_SHAPE_DOUBLE_SIDED) 6) fix GripperGraspExample, model not found 7) Fix deformable anchor not attaching to multibody with object unique id of 0 8) Fix issue with assignment of unique ids in TinyRenderer/EGL renderer (always use broadphase uid) 9) Avoid crash/issue of simulation with pinned vertices (mass 0) in btDeformableBackwardEulerObjective::applyExplicitForce 10) Store uv/normal in btSoftBody::RenderNode to allow textured meshes 11) (uncomment in btSoftBodyHelpers.cpp): dump vertices and indices in obj wavefront format, when loading a VTK file, for quicker creation of a (textured) surface mesh 12) allow interpolateRenderMesh also for old position-based soft bodies (not only the shiny new FEM deformables) 13) fix a few premake targets 14) update build_visual_studio_vr_pybullet_double_cmake.bat so it suits c:\python37 and installs locally for local install of Bullet, see also this example https://github.com/erwincoumans/hello_bullet_cmake
67 lines
2.6 KiB
C++
67 lines
2.6 KiB
C++
#ifndef TINY_RENDERER_H
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#define TINY_RENDERER_H
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#include "geometry.h"
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#include "model.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Bullet3Common/b3Vector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btVector3.h"
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#include "tgaimage.h"
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struct TinyRenderObjectData
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{
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//Camera
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TinyRender::Matrix m_viewMatrix;
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TinyRender::Matrix m_projectionMatrix;
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TinyRender::Matrix m_viewportMatrix;
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btVector3 m_localScaling;
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btVector3 m_lightDirWorld;
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btVector3 m_lightColor;
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float m_lightDistance;
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float m_lightAmbientCoeff;
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float m_lightDiffuseCoeff;
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float m_lightSpecularCoeff;
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//Model (vertices, indices, textures, shader)
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TinyRender::Matrix m_modelMatrix;
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TinyRender::Model* m_model;
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//class IShader* m_shader; todo(erwincoumans) expose the shader, for now we use a default shader
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//Output
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TGAImage& m_rgbColorBuffer;
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b3AlignedObjectArray<float>& m_depthBuffer; //required, hence a reference
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b3AlignedObjectArray<float>* m_shadowBuffer; //optional, hence a pointer
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b3AlignedObjectArray<int>* m_segmentationMaskBufferPtr; //optional, hence a pointer
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TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer);
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TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex);
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TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer, b3AlignedObjectArray<float>* shadowBuffer);
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TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex, int linkIndex);
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virtual ~TinyRenderObjectData();
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void loadModel(const char* fileName, struct CommonFileIOInterface* fileIO);
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void createCube(float HalfExtentsX, float HalfExtentsY, float HalfExtentsZ, struct CommonFileIOInterface* fileIO=0);
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void registerMeshShape(const float* vertices, int numVertices, const int* indices, int numIndices, const float rgbaColor[4],
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unsigned char* textureImage = 0, int textureWidth = 0, int textureHeight = 0);
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void registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals, btAlignedObjectArray<int>& indices, struct CommonFileIOInterface* fileIO);
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void* m_userData;
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int m_userIndex;
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int m_objectIndex;
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int m_linkIndex;
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bool m_doubleSided;
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};
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class TinyRenderer
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{
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public:
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static void renderObjectDepth(TinyRenderObjectData& renderData);
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static void renderObject(TinyRenderObjectData& renderData);
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};
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#endif // TINY_RENDERER_Hbla
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