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Add Flex component.

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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
This commit is contained in:
Alessio Quaglino
2023-10-12 10:15:46 +01:00
committed by Saran Tunyasuvunakool
parent 649a474788
commit 5a70ad08ab
82 changed files with 9658 additions and 1581 deletions
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src/render/render_gl3.c
+81 -2
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@@ -284,9 +284,9 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
}
}
// apply coordinate transformation, except for skin which is global
// apply coordinate transformation, except for flex and skin which are global
glPushMatrix();
if (geom->type != mjGEOM_SKIN) {
if (geom->type != mjGEOM_FLEX && geom->type != mjGEOM_SKIN) {
glTranslatef(geom->pos[0], geom->pos[1], geom->pos[2]);
glMultMatrixf(mat);
}
@@ -412,6 +412,85 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
glEnd();
break;
case mjGEOM_FLEX: // flex
// no texture for vertices and edges
if (glIsEnabled(GL_TEXTURE_2D)) {
glDisable(GL_TEXTURE_2D);
}
// vertex spheres
if (size[0]>0 && scn->flexvertopt &&
!(scn->flexskinopt && scn->flexfaceused[geom->objid])) {
for (int v=scn->flexvertadr[geom->objid];
v<scn->flexvertadr[geom->objid]+scn->flexvertnum[geom->objid]; v++) {
glPushMatrix();
glTranslatef(scn->flexvert[3*v], scn->flexvert[3*v+1], scn->flexvert[3*v+2]);
glScalef(size[0], size[0], size[0]);
glCallList(con->baseBuiltin + mjrSPHERE);
glPopMatrix();
}
}
// edge cylinders
if (size[0]>0 && scn->flexedgeopt &&
!(scn->flexskinopt && scn->flexfaceused[geom->objid])) {
for (int e=scn->flexedgeadr[geom->objid];
e<scn->flexedgeadr[geom->objid]+scn->flexedgenum[geom->objid]; e++) {
// get vertices for this edge
float* v1 = scn->flexvert + 3*(scn->flexvertadr[geom->objid]+scn->flexedge[2*e]);
float* v2 = scn->flexvert + 3*(scn->flexvertadr[geom->objid]+scn->flexedge[2*e+1]);
// compute legth and rotation matrix
mjtNum vec[3] = {v2[0]-v1[0], v2[1]-v1[1], v2[2]-v1[2]};
mjtNum len = mju_normalize3(vec);
mjtNum edgequat[4], edgemat[9];
mju_quatZ2Vec(edgequat, vec);
mju_negQuat(edgequat, edgequat);
mju_quat2Mat(edgemat, edgequat);
mat[0] = (float)edgemat[0];
mat[1] = (float)edgemat[1];
mat[2] = (float)edgemat[2];
mat[4] = (float)edgemat[3];
mat[5] = (float)edgemat[4];
mat[6] = (float)edgemat[5];
mat[8] = (float)edgemat[6];
mat[9] = (float)edgemat[7];
mat[10] = (float)edgemat[8];
// transform and render
glPushMatrix();
glTranslatef((v1[0]+v2[0])*0.5f, (v1[1]+v2[1])*0.5f, (v1[2]+v2[2])*0.5f);
glMultMatrixf(mat);
glScalef(size[0], size[0], (float)(len*0.5));
glCallList(con->baseBuiltin + mjrCYLINDEROPEN);
glPopMatrix();
}
}
// restore texture for faces
if (glIsEnabled(GL_TEXTURE_2D)) {
glEnable(GL_TEXTURE_2D);
}
// face triangles
if (scn->flexfaceused[geom->objid]) {
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, scn->flexface + 9*scn->flexfaceadr[geom->objid]);
glNormalPointer(GL_FLOAT, 0, scn->flexnormal + 9*scn->flexfaceadr[geom->objid]);
if (geom->texcoord && geom->texid>=0) {
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glTexCoordPointer(2, GL_FLOAT, 0, scn->flextexcoord + 6*scn->flexfaceadr[geom->objid]);
}
glDrawArrays(GL_TRIANGLES, 0, 3*scn->flexfaceused[geom->objid]);
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_NORMAL_ARRAY);
if (geom->texcoord && geom->texid>=0) {
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
}
}
break;
case mjGEOM_SKIN: // skin
// vertex positions
glEnableClientState(GL_VERTEX_ARRAY);