summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--examples/SharedMemory/PhysicsClientC_API.cpp22
-rw-r--r--examples/SharedMemory/PhysicsClientC_API.h1
-rw-r--r--examples/SharedMemory/PhysicsClientSharedMemory.cpp6
-rw-r--r--examples/SharedMemory/PhysicsDirect.cpp8
-rw-r--r--examples/SharedMemory/PhysicsServerCommandProcessor.cpp44
-rw-r--r--examples/SharedMemory/PhysicsServerCommandProcessor.h1
-rw-r--r--examples/SharedMemory/SharedMemoryCommands.h9
-rw-r--r--examples/SharedMemory/SharedMemoryPublic.h3
-rw-r--r--examples/TinyRenderer/TinyRenderer.cpp2
-rw-r--r--examples/TinyRenderer/main.cpp18
-rw-r--r--examples/pybullet/pybullet.c56
11 files changed, 165 insertions, 5 deletions
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index e4bdb6fc5..a8edca29a 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1484,6 +1484,28 @@ B3_SHARED_API int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle co
return -1;
}
+B3_SHARED_API b3SharedMemoryCommandHandle b3ResetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int numVertices, const double* vertices)
+{
+ PhysicsClient* cl = (PhysicsClient*)physClient;
+ b3Assert(cl);
+ b3Assert(cl->canSubmitCommand());
+ if (cl)
+ {
+ struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+ b3Assert(command);
+ command->m_type = CMD_RESET_MESH_DATA;
+ command->m_updateFlags = 0;
+ command->m_resetMeshDataArgs.m_numVertices = numVertices;
+ command->m_resetMeshDataArgs.m_bodyUniqueId = bodyUniqueId;
+ command->m_resetMeshDataArgs.m_flags = 0;
+ int totalUploadSizeInBytes = numVertices * sizeof(double) *3;
+ cl->uploadBulletFileToSharedMemory((const char*)vertices, totalUploadSizeInBytes);
+ return (b3SharedMemoryCommandHandle)command;
+ }
+ return 0;
+}
+
+
B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index d7a9eadd2..0823b5f65 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -534,6 +534,7 @@ extern "C"
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData);
+ B3_SHARED_API b3SharedMemoryCommandHandle b3ResetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int num_vertices, const double* vertices);
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius);
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 456a1c4be..3512fe3ef 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -1521,12 +1521,18 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
b3Warning("Removing user data failed");
break;
}
+ case CMD_RESET_MESH_DATA_FAILED:
+ {
+ b3Warning("resetMeshData failed");
+ break;
+ }
case CMD_REQUEST_USER_DATA_COMPLETED:
case CMD_SYNC_USER_DATA_COMPLETED:
case CMD_REMOVE_USER_DATA_COMPLETED:
case CMD_ADD_USER_DATA_COMPLETED:
case CMD_REMOVE_STATE_FAILED:
case CMD_REMOVE_STATE_COMPLETED:
+ case CMD_RESET_MESH_DATA_COMPLETED:
{
break;
}
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index 69490ed77..ef72e7e19 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -1306,6 +1306,14 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
}
break;
}
+ case CMD_RESET_MESH_DATA_COMPLETED:
+ {
+ break;
+ }
+ case CMD_RESET_MESH_DATA_FAILED:
+ {
+ break;
+ }
case CMD_REMOVE_STATE_FAILED:
{
break;
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 824bee9e5..bd12afb51 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5485,6 +5485,44 @@ static void gatherVertices(const btTransform& trans, const btCollisionShape* col
}
}
}
+
+bool PhysicsServerCommandProcessor::processResetMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
+{
+ bool hasStatus = true;
+ BT_PROFILE("CMD_REQUEST_MESH_DATA");
+ serverStatusOut.m_type = CMD_RESET_MESH_DATA_FAILED;
+ int sizeInBytes = 0;
+
+ InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_requestMeshDataArgs.m_bodyUniqueId);
+ if (bodyHandle)
+ {
+ int totalBytesPerVertex = sizeof(btVector3);
+ double* vertexUpload = (double*)bufferServerToClient;
+
+#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+
+ if (bodyHandle->m_softBody)
+ {
+ btSoftBody* psb = bodyHandle->m_softBody;
+
+ int numVertices = psb->m_nodes.size();
+ if (clientCmd.m_resetMeshDataArgs.m_numVertices == numVertices)
+ {
+ for (int i = 0; i < numVertices; ++i)
+ {
+ btSoftBody::Node& n = psb->m_nodes[i];
+ n.m_x.setValue(vertexUpload[i*3+0], vertexUpload[i*3+1],vertexUpload[i*3+2]);
+ }
+ serverStatusOut.m_type = CMD_RESET_MESH_DATA_COMPLETED;
+ }
+ }
+#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+ }
+ serverStatusOut.m_numDataStreamBytes = 0;
+
+ return hasStatus;
+}
+
bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
@@ -14345,6 +14383,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = processRequestMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
+ case CMD_RESET_MESH_DATA:
+ {
+ hasStatus = processResetMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
+ break;
+ }
+
case CMD_CREATE_MULTI_BODY:
{
hasStatus = processCreateMultiBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index e90ddb064..ad6c403aa 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -32,6 +32,7 @@ protected:
bool processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+ bool processResetMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCustomCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processUserDebugDrawCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSetVRCameraStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 6347a44d7..75d7ab9a7 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -1141,6 +1141,13 @@ struct b3RequestMeshDataArgs
int m_flags;
};
+struct b3ResetMeshDataArgs
+{
+ int m_bodyUniqueId;
+ int m_numVertices;
+ int m_flags;
+};
+
struct b3SendMeshDataArgs
{
int m_numVerticesCopied;
@@ -1209,6 +1216,8 @@ struct SharedMemoryCommand
struct UserDataRequestArgs m_removeUserDataRequestArgs;
struct b3CollisionFilterArgs m_collisionFilterArgs;
struct b3RequestMeshDataArgs m_requestMeshDataArgs;
+ struct b3ResetMeshDataArgs m_resetMeshDataArgs;
+
};
};
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 9ea8c1694..2649fc44d 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -117,6 +117,7 @@ enum EnumSharedMemoryClientCommand
CMD_REQUEST_MESH_DATA,
CMD_PERFORM_COLLISION_DETECTION,
+ CMD_RESET_MESH_DATA,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
};
@@ -241,6 +242,8 @@ enum EnumSharedMemoryServerStatus
CMD_REQUEST_MESH_DATA_FAILED,
CMD_PERFORM_COLLISION_DETECTION_COMPLETED,
+ CMD_RESET_MESH_DATA_COMPLETED,
+ CMD_RESET_MESH_DATA_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index 4ea51ebec..4340ce822 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -213,6 +213,7 @@ TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedOb
m_lightAmbientCoeff = 0.6;
m_lightDiffuseCoeff = 0.35;
m_lightSpecularCoeff = 0.05;
+
}
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex, int linkIndex)
@@ -254,6 +255,7 @@ TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedOb
Vec3f center(0, 0, 0);
Vec3f up(0, 0, 1);
m_lightDirWorld.setValue(0, 0, 0);
+ m_lightDistance = 10;
m_lightColor.setValue(1, 1, 1);
m_localScaling.setValue(1, 1, 1);
m_modelMatrix = Matrix::identity();
diff --git a/examples/TinyRenderer/main.cpp b/examples/TinyRenderer/main.cpp
index fed8c39ca..0cd2e3cb6 100644
--- a/examples/TinyRenderer/main.cpp
+++ b/examples/TinyRenderer/main.cpp
@@ -56,7 +56,8 @@ void MyKeyboardCallback(int keycode, int state)
sOldKeyboardCB(keycode, state);
}
#include "TinyRenderer.h"
-float color2[4] = { 1,0,0,1 };
+#include "our_gl.h"
+
int main(int argc, char* argv[])
{
@@ -108,10 +109,11 @@ int main(int argc, char* argv[])
b3Vector3 pos = b3MakeVector3(0, 0, 0);
b3Quaternion orn(0, 0, 0, 1);
+ float color[4] = {1,1,1,1};
b3Vector3 scaling = b3MakeVector3(1, 1, 1);
- //app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
- //app->m_renderer->writeTransforms();
+ app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
+ app->m_renderer->writeTransforms();
do
{
@@ -160,6 +162,15 @@ int main(int argc, char* argv[])
tr.setOrigin(org);
tr.getOpenGLMatrix(modelMat);
+ TinyRender::Vec3f eye(1,1,3);
+ TinyRender::Vec3f center(0,0,0);
+ TinyRender::Vec3f up(0,1,0);
+
+ renderData.m_viewMatrix = TinyRender::lookat(eye, center, up);
+ renderData.m_viewportMatrix = TinyRender::viewport(gWidth/8, gHeight/8, gWidth*3/4, gHeight*3/4);
+ renderData.m_projectionMatrix = TinyRender::projection(-1.f/(eye-center).norm());
+
+
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
@@ -170,6 +181,7 @@ int main(int argc, char* argv[])
}
//render the object
+ float color2[4] = { 1,1,1,1 };
renderData.m_model->setColorRGBA(color2);
TinyRenderer::renderObject(renderData);
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index b26034e3d..f3ee74452 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1,4 +1,4 @@
-//#include "D:/dev/visual leak detector/include/vld.h"
+//#include "D:/dev/VisualLeakDetector/include/vld.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
@@ -9116,6 +9116,55 @@ static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject*
return NULL;
}
+
+static PyObject* pybullet_resetMeshData(PyObject* self, PyObject* args, PyObject* keywds)
+{
+ int bodyUniqueId = -1;
+ b3PhysicsClientHandle sm = 0;
+ b3SharedMemoryCommandHandle command;
+ b3SharedMemoryStatusHandle statusHandle;
+ struct b3MeshData meshData;
+ int statusType;
+ PyObject* verticesObj = 0;
+ int physicsClientId = 0;
+ int numVertices = 0;
+
+ static char* kwlist[] = { "bodyUniqueId", "vertices", "physicsClientId", NULL};
+ if (!PyArg_ParseTupleAndKeywords(args, keywds, "iO|i", kwlist, &bodyUniqueId, &verticesObj, &physicsClientId))
+ {
+ return NULL;
+ }
+ sm = getPhysicsClient(physicsClientId);
+ if (sm == 0)
+ {
+ PyErr_SetString(SpamError, "Not connected to physics server.");
+ return NULL;
+ }
+
+ numVertices = extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES);
+ if (numVertices)
+ {
+ double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0;
+ numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES);
+
+ command = b3ResetMeshDataCommandInit(sm, bodyUniqueId, numVertices, vertices);
+
+ statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+ statusType = b3GetStatusType(statusHandle);
+
+ free(vertices);
+
+ if (statusType == CMD_RESET_MESH_DATA_COMPLETED)
+ {
+ Py_INCREF(Py_None);
+ return Py_None;
+ }
+ }
+
+ PyErr_SetString(SpamError, "resetMeshData failed");
+ return NULL;
+}
+
static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
@@ -12522,9 +12571,12 @@ static PyMethodDef SpamMethods[] = {
{"removeCollisionShape", (PyCFunction)pybullet_removeCollisionShape, METH_VARARGS | METH_KEYWORDS,
"Remove a collision shape. Only useful when the collision shape is not used in a body (to perform a getClosestPoint query)."},
- {"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
+ {"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
"Get mesh data. Returns vertices etc from the mesh."},
+ {"resetMeshData", (PyCFunction)pybullet_resetMeshData, METH_VARARGS | METH_KEYWORDS,
+ "Reset mesh data. Only implemented for deformable bodies."},
+
{"createVisualShape", (PyCFunction)pybullet_createVisualShape, METH_VARARGS | METH_KEYWORDS,
"Create a visual shape. Returns a non-negative (int) unique id, if successfull, negative otherwise."},
View Lorry Controller Status