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Render shadow with depth from light.

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This commit is contained in:
yunfeibai
2016-11-21 10:21:14 -08:00
parent 5be4409a1a
commit 24b3e137a6
3 changed files with 104 additions and 4 deletions
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20
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -89,10 +89,10 @@ protected:
virtual void resetCamera()
{
float dist = 4;
float dist = 1;
float pitch = 193;
float yaw = 25;
float targetPos[3]={0,0,0.5};//-3,2.8,-2.5};
float targetPos[3]={0.008655,0.001998,0.679456};//-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
@@ -481,6 +481,21 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
}
break;
}
case CMD_UPDATE_LIGHT:
{
b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
float viewMatrix[16];
float projectionMatrix[16];
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
float lightDir[3] = {0.0,0.1,2.0};
b3RequestCameraImageSetLightDirection(commandHandle, lightDir);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
default:
{
b3Error("Unknown buttonId");
@@ -557,6 +572,7 @@ void PhysicsClientExample::createButtons()
createButton("Load SDF",CMD_LOAD_SDF, isTrigger);
createButton("Save World",CMD_SAVE_WORLD, isTrigger);
createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
createButton("Update Light",CMD_UPDATE_LIGHT,isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION, isTrigger);
createButton("Get Visual Shape Info",CMD_REQUEST_VISUAL_SHAPE_INFO, isTrigger);