Get debug visualizer camera yaw, pitch, dist, and target.

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -57,7 +57,7 @@ struct GUIHelperInterface
 
 	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)=0;
 
-	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const
+	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const
 	{
 		return false;
 	}

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -984,7 +984,7 @@ void OpenGLGuiHelper::resetCamera(float camDist, float yaw, float pitch, float c
 	}
 }
 
-bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const
+bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float cameraTarget[3]) const
 {
 	if (getRenderInterface() && getRenderInterface()->getActiveCamera())
 	{
@@ -1030,6 +1030,13 @@ bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16
 		vert[0] = vertical[0];
 		vert[1] = vertical[1];
 		vert[2] = vertical[2];
+		
+		*yaw = getRenderInterface()->getActiveCamera()->getCameraYaw();
+		*pitch = getRenderInterface()->getActiveCamera()->getCameraPitch();
+		*camDist = getRenderInterface()->getActiveCamera()->getCameraDistance();
+		cameraTarget[0] = camTarget[0];
+		cameraTarget[1] = camTarget[1];
+		cameraTarget[2] = camTarget[2];
 		return true;
 	}
 	return false;

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -47,7 +47,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	
     
 	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
-	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const;
+	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const;
 
 	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
                                   unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 

examples/SharedMemory/PhysicsClientExample.cpp

@@ -271,7 +271,6 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
         case CMD_REQUEST_CAMERA_IMAGE_DATA:
         {
             ///request an image from a simulated camera, using a software renderer.
-            
             b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
             //b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
             
@@ -328,6 +327,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
                     //b3Printf("Joint %d: %f", i, sensorState.m_jointMotorTorque);
                 }
 			}
+			
             break;
         };
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -4496,7 +4496,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						serverCmd.m_visualizerCameraResultArgs.m_camUp,
 						serverCmd.m_visualizerCameraResultArgs.m_camForward,
 						serverCmd.m_visualizerCameraResultArgs.m_horizontal,
-						serverCmd.m_visualizerCameraResultArgs.m_vertical);
+						serverCmd.m_visualizerCameraResultArgs.m_vertical,
+						&serverCmd.m_visualizerCameraResultArgs.m_yaw,
+						&serverCmd.m_visualizerCameraResultArgs.m_pitch,
+						&serverCmd.m_visualizerCameraResultArgs.m_dist,
+						serverCmd.m_visualizerCameraResultArgs.m_target);
                     serverCmd.m_type = result ? CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED: CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED;
 					hasStatus = true;
 					break;

examples/SharedMemory/PhysicsServerExample.cpp

@@ -1021,9 +1021,9 @@ public:
 	    m_childGuiHelper->resetCamera(camDist,yaw,pitch,camPosX,camPosY,camPosZ);
 	}
 
-	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const
+	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const
 	{
-		return m_childGuiHelper->getCameraInfo(width,height,viewMatrix,projectionMatrix,camUp,camForward,hor,vert);
+		return m_childGuiHelper->getCameraInfo(width,height,viewMatrix,projectionMatrix,camUp,camForward,hor,vert,yaw,pitch,camDist,camTarget);
 	}
 
 

examples/SharedMemory/SharedMemoryPublic.h

@@ -286,6 +286,11 @@ struct b3OpenGLVisualizerCameraInfo
 
 	float m_horizontal[3];
 	float m_vertical[3];
+	
+	float m_yaw;
+	float m_pitch;
+	float m_dist;
+	float m_target[3];
 };
 
 enum b3VREventType

examples/pybullet/pybullet.c

@@ -3925,7 +3925,7 @@ static PyObject* pybullet_getDebugVisualizerCamera(PyObject* self, PyObject* arg
 	if (hasCamInfo)
 	{
 		PyObject* item=0;
-		pyCameraList = PyTuple_New(8);
+		pyCameraList = PyTuple_New(12);
 		item = PyInt_FromLong(camera.m_width);
 		PyTuple_SetItem(pyCameraList,0,item);
 		item = PyInt_FromLong(camera.m_height);
@@ -3969,6 +3969,23 @@ static PyObject* pybullet_getDebugVisualizerCamera(PyObject* self, PyObject* arg
 			PyTuple_SetItem(pyCameraList,6,hor);
 			PyTuple_SetItem(pyCameraList,7,vert);
 		}
+		item = PyFloat_FromDouble(camera.m_yaw);
+		PyTuple_SetItem(pyCameraList,8,item);
+		item = PyFloat_FromDouble(camera.m_pitch);
+		PyTuple_SetItem(pyCameraList,9,item);
+		item = PyFloat_FromDouble(camera.m_dist);
+		PyTuple_SetItem(pyCameraList,10,item);
+		{
+			PyObject* item=0;
+			int i;
+			PyObject* camTarget = PyTuple_New(3);
+			for (i=0;i<3;i++)
+			{
+				item = PyFloat_FromDouble(camera.m_target[i]);
+				PyTuple_SetItem(camTarget,i,item);
+			}
+			PyTuple_SetItem(pyCameraList,11,camTarget);
+		}
 		return pyCameraList;
 	}