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tweak zbuffer visualization, show targetpos in example browser

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This commit is contained in:
erwincoumans
2017-11-18 15:18:46 -08:00
parent 81146a4090
commit 099a6f65f3
2 changed files with 13 additions and 13 deletions
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24
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -2096,8 +2096,9 @@ void PhysicsServerExample::updateGraphics()
int startSegIndex = m_multiThreadedHelper->m_startPixelIndex;
int endSegIndex = startSegIndex + (*m_multiThreadedHelper->m_numPixelsCopied);
btScalar frustumZNear = m_multiThreadedHelper->m_projectionMatrix[14]/(m_multiThreadedHelper->m_projectionMatrix[10]-1);
btScalar frustumZFar = 20;//m_multiThreadedHelper->m_projectionMatrix[14]/(m_multiThreadedHelper->m_projectionMatrix[10]+1);
//btScalar frustumZNear = m_multiThreadedHelper->m_projectionMatrix[14]/(m_multiThreadedHelper->m_projectionMatrix[10]-1);
//btScalar frustumZFar = m_multiThreadedHelper->m_projectionMatrix[14]/(m_multiThreadedHelper->m_projectionMatrix[10]+1);
for (int i=0;i<gCamVisualizerWidth;i++)
{
@@ -2131,17 +2132,16 @@ void PhysicsServerExample::updateGraphics()
if (depthValue>-1e20)
{
int rgb = 0;
btScalar minDepthValue = 0.98;//todo: compute more reasonably min/max depth range
btScalar maxDepthValue = 1;
btScalar frustumZNear = 0.1;
btScalar frustumZFar = 30;
btScalar minDepthValue = frustumZNear;//todo: compute more reasonably min/max depth range
btScalar maxDepthValue = frustumZFar;
if (maxDepthValue!=minDepthValue)
{
rgb = (depthValue-minDepthValue)*(255. / (btFabs(maxDepthValue-minDepthValue)));
if (rgb<0 || rgb>255)
{
//printf("rgb=%d\n",rgb);
}
}
float depth = depthValue;
double linearDepth = 255.*(2.0 * frustumZNear) / (frustumZFar + frustumZNear - depth * (frustumZFar - frustumZNear));
btClamp(linearDepth, btScalar(0),btScalar(255));
rgb = linearDepth;
m_canvas->setPixel(m_canvasDepthIndex,i,j,
rgb,
rgb,