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add bicycle resources and testBike.py script (use python -m pybullet_envs.examples.testBike after pip install pybullet)

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center shadow around camera target
This commit is contained in:
erwincoumans
2018-01-31 22:17:15 -08:00
parent 40482e0925
commit 13d67e8fc3
14 changed files with 692 additions and 1 deletions
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3
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -2085,13 +2085,14 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
b3CreateOrtho(-shadowMapWorldSize,shadowMapWorldSize,-shadowMapWorldSize,shadowMapWorldSize,1,300,depthProjectionMatrix);//-14,14,-14,14,1,200, depthProjectionMatrix);
float depthViewMatrix[4][4];
b3Vector3 center = b3MakeVector3(0,0,0);
m_data->m_activeCamera->getCameraTargetPosition(center);
//float upf[3];
//m_data->m_activeCamera->getCameraUpVector(upf);
b3Vector3 up, lightFwd;
b3Vector3 lightDir = m_data->m_lightPos.normalized();
b3PlaneSpace1(lightDir,up,lightFwd);
// b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]);
b3CreateLookAt(m_data->m_lightPos,center,up,&depthViewMatrix[0][0]);
b3CreateLookAt(m_data->m_lightPos+center,center,up,&depthViewMatrix[0][0]);
//b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2);
GLfloat depthModelMatrix[4][4];