Merge remote-tracking branch 'bp/master'

examples/OpenGLWindow/Shaders/projectiveTextureInstancingPS.glsl

@@ -6,13 +6,9 @@ in Fragment
      vec4 color;
 } fragment;
 
-in Vert
-{
-	vec2 texcoord;
-} vert;
-
 uniform sampler2D Diffuse;
 uniform mat4 ViewMatrixInverse;
+uniform mat4 TextureMVP;
 
 in vec3 lightPos,cameraPosition, normal,ambient;
 in vec4 vertexPos;
@@ -23,10 +19,11 @@ in vec3 materialSpecularColor;
 out vec4 color;
 
 
-
 void main(void)
 {
-	vec4 texel = fragment.color*texture(Diffuse,vert.texcoord.xy);
+    vec4 projcoords = TextureMVP * vertexPos;
+    vec2 texturecoords = projcoords.xy/max(projcoords.z,0.1);
+	vec4 texel = fragment.color*texture(Diffuse,texturecoords);
 	vec3 ct,cf;
 	float intensity,at,af;
 	if (fragment.color.w==0)

examples/OpenGLWindow/Shaders/projectiveTextureInstancingPS.h

@@ -6,12 +6,9 @@ static const char* projectiveTextureInstancingFragmentShader= \
 "{\n"
 "     vec4 color;\n"
 "} fragment;\n"
-"in Vert\n"
-"{\n"
-"	vec2 texcoord;\n"
-"} vert;\n"
 "uniform sampler2D Diffuse;\n"
 "uniform mat4 ViewMatrixInverse;\n"
+"uniform mat4 TextureMVP;\n"
 "in vec3 lightPos,cameraPosition, normal,ambient;\n"
 "in vec4 vertexPos;\n"
 "in float materialShininess;\n"
@@ -20,7 +17,9 @@ static const char* projectiveTextureInstancingFragmentShader= \
 "out vec4 color;\n"
 "void main(void)\n"
 "{\n"
-"	vec4 texel = fragment.color*texture(Diffuse,vert.texcoord.xy);\n"
+"    vec4 projcoords = TextureMVP * vertexPos;\n"
+"    vec2 texturecoords = projcoords.xy/max(projcoords.z,0.1);\n"
+"	vec4 texel = fragment.color*texture(Diffuse,texturecoords);\n"
 "	vec3 ct,cf;\n"
 "	float intensity,at,af;\n"
 "	if (fragment.color.w==0)\n"

examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.glsl

@@ -93,7 +93,5 @@ void main(void)
 	gl_Position = vertexLoc;
 
 	fragment.color = instance_color;
-	vec4 projcoords = TextureMVP * vec4((instance_position+localcoord).xyz,1);
-	vert.texcoord = projcoords.xy/projcoords.z;
 }
 

examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.h

@@ -80,7 +80,5 @@ static const char* projectiveTextureInstancingVertexShader= \
 "	vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);\n"
 "	gl_Position = vertexLoc;\n"
 "	fragment.color = instance_color;\n"
-"	vec4 projcoords = TextureMVP * vec4((instance_position+localcoord).xyz,1);\n"
-"	vert.texcoord = projcoords.xy/projcoords.z;\n"
 "}\n"
 ;

examples/SharedMemory/CMakeLists.txt

@@ -211,7 +211,7 @@ IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
 ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
 
 
-#VR/OpenVR only on Windows and Mac OSX for now
+#VR/OpenVR on Windows and Mac OSX
 IF (WIN32 OR APPLE)
 
 INCLUDE_DIRECTORIES(
@@ -325,4 +325,80 @@ IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
                         SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
 ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
 
+#VR/OpenVR on Linux
+ELSE(WIN32 OR APPLE)
+       IF(CMAKE_SIZEOF_VOID_P MATCHES 8)
+                LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/linux64)
+        ELSE()
+                LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/linux32)
+        ENDIF()
+
+        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_VR
+                ${SharedMemory_SRCS}
+               ../StandaloneMain/hellovr_opengl_main.cpp
+               ../ExampleBrowser/OpenGLGuiHelper.cpp
+               ../ExampleBrowser/GL_ShapeDrawer.cpp
+               ../ExampleBrowser/CollisionShape2TriangleMesh.cpp
+               ../RenderingExamples/TinyVRGui.cpp
+               ../RenderingExamples/TinyVRGui.h
+               ../RenderingExamples/TimeSeriesCanvas.cpp
+               ../RenderingExamples/TimeSeriesFontData.cpp
+               ../MultiThreading/b3PosixThreadSupport.cpp
+               ../MultiThreading/b3PosixThreadSupport.h
+               ../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp
+               ../ThirdPartyLibs/openvr/samples/shared/lodepng.h
+               ../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp
+               ../ThirdPartyLibs/openvr/samples/shared/Matrices.h
+               ../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
+               ../ThirdPartyLibs/openvr/samples/shared/pathtools.h
+               ../ThirdPartyLibs/openvr/samples/shared/strtools.cpp
+               ../ThirdPartyLibs/openvr/samples/shared/strtools.h
+               ../ThirdPartyLibs/openvr/samples/shared/Vectors.h
+        )
+
+       target_include_directories(App_PhysicsServer_SharedMemory_VR PRIVATE
+                ${BULLET_PHYSICS_SOURCE_DIR}/src
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/headers
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/samples
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/samples/shared
+       )
+
+       target_compile_definitions(App_PhysicsServer_SharedMemory_VR PRIVATE
+               POSIX
+               LINUX
+               BT_ENABLE_VR
+               GLEW_STATIC
+               GLEW_INIT_OPENGL11_FUNCTIONS=1
+               GLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1
+       )
+
+       target_compile_options(App_PhysicsServer_SharedMemory_VR PRIVATE
+               -std=c++11
+       )
+
+       target_link_libraries(App_PhysicsServer_SharedMemory_VR PRIVATE
+               openvr_api
+               pthread
+               ${DL}
+               ${OPENGL_gl_LIBRARY}
+               ${OPENGL_glu_LIBRARY}
+               Bullet3Common
+               BulletWorldImporter
+               BulletInverseDynamicsUtils
+               BulletInverseDynamics
+               BulletDynamics
+               BulletCollision
+               LinearMath
+               BussIK
+               OpenGLWindow
+       )
+
+       IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+               SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  DEBUG_POSTFIX "_Debug")
+               SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+               SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+       ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+
 ENDIF(WIN32 OR APPLE)

examples/StandaloneMain/hellovr_opengl_main.cpp

@@ -59,6 +59,9 @@ static vr::VRControllerState_t sPrevStates[vr::k_unMaxTrackedDeviceCount] = { 0
 #ifdef _WIN32
 #include <Windows.h>
 #endif
+#ifdef __linux__
+#define APIENTRY
+#endif
 
 void ThreadSleep( unsigned long nMilliseconds )
 {
@@ -1804,13 +1807,11 @@ void CMainApplication::RenderStereoTargets()
 	}
 
 	glBindFramebuffer( GL_FRAMEBUFFER, leftEyeDesc.m_nRenderFramebufferId );
- 	glViewport(0, 0, m_nRenderWidth, m_nRenderHeight );
  	
-	
-	
 
 	m_app->m_window->startRendering();
-	
+        glViewport(0, 0, m_nRenderWidth, m_nRenderHeight );
+
 
 	RenderScene( vr::Eye_Left );
 
@@ -1863,9 +1864,9 @@ void CMainApplication::RenderStereoTargets()
 	}
 	
 	glBindFramebuffer( GL_FRAMEBUFFER, rightEyeDesc.m_nRenderFramebufferId );
- 	glViewport(0, 0, m_nRenderWidth, m_nRenderHeight );
  	
 	m_app->m_window->startRendering();
+        glViewport(0, 0, m_nRenderWidth, m_nRenderHeight );
 	
 	RenderScene( vr::Eye_Right );
 	
@@ -2081,6 +2082,7 @@ void CMainApplication::UpdateHMDMatrixPose()
 					case vr::TrackedDeviceClass_HMD:               m_rDevClassChar[nDevice] = 'H'; break;
 					case vr::TrackedDeviceClass_Invalid:           m_rDevClassChar[nDevice] = 'I'; break;
 					case vr::TrackedDeviceClass_TrackingReference: m_rDevClassChar[nDevice] = 'T'; break;
+                                        case vr::TrackedDeviceClass_GenericTracker:    m_rDevClassChar[nDevice] = 'G'; break;
 					default:                                       m_rDevClassChar[nDevice] = '?'; break;
 					}
 				}

examples/ThirdPartyLibs/openvr/samples/shared/strtools.cpp

@@ -4,6 +4,12 @@
 #include <stdio.h>
 #include <stdlib.h>
 
+#ifdef __linux__
+#define stricmp strcasecmp
+#define strnicmp strncasecmp
+#endif
+
+
 //-----------------------------------------------------------------------------
 // Purpose:
 //-----------------------------------------------------------------------------

examples/pybullet/examples/projective_texture.py

@@ -1,6 +1,5 @@
 import pybullet as p
 from time import sleep
-from PIL import Image
 import matplotlib.pyplot as plt
 import numpy as np
 
@@ -9,7 +8,7 @@ physicsClient = p.connect(p.GUI)
 p.setGravity(0,0,0)
 bearStartPos1 = [-3.3,0,0]
 bearStartOrientation1 = p.getQuaternionFromEuler([0,0,0])
-bearId1 = p.loadURDF("teddy_large.urdf", bearStartPos1, bearStartOrientation1)
+bearId1 = p.loadURDF("plane.urdf", bearStartPos1, bearStartOrientation1)
 bearStartPos2 = [0,0,0]
 bearStartOrientation2 = p.getQuaternionFromEuler([0,0,0])
 bearId2 = p.loadURDF("teddy_large.urdf",bearStartPos2, bearStartOrientation2)

src/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -121,12 +121,19 @@ void	btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedT
 	btQuaternion rotatingOrn(right,-wheel.m_rotation);
 	btMatrix3x3 rotatingMat(rotatingOrn);
 
-	btMatrix3x3 basis2(
+    btMatrix3x3 basis2;
-		right[0],fwd[0],up[0],
+    basis2[0][m_indexRightAxis] = -right[0];
-		right[1],fwd[1],up[1],
+    basis2[1][m_indexRightAxis] = -right[1];
-		right[2],fwd[2],up[2]
+    basis2[2][m_indexRightAxis] = -right[2];
-	);
+
-	
+    basis2[0][m_indexUpAxis] = up[0];
+    basis2[1][m_indexUpAxis] = up[1];
+    basis2[2][m_indexUpAxis] = up[2];
+
+    basis2[0][m_indexForwardAxis] = fwd[0];
+    basis2[1][m_indexForwardAxis] = fwd[1];
+    basis2[2][m_indexForwardAxis] = fwd[2];
+
 	wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
 	wheel.m_worldTransform.setOrigin(
 		wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength
@@ -567,7 +574,7 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 					const btTransform& wheelTrans = getWheelTransformWS( i );
 
 					btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
-					m_axle[i] = btVector3(	
+					m_axle[i] = -btVector3(	
 						wheelBasis0[0][m_indexRightAxis],
 						wheelBasis0[1][m_indexRightAxis],
 						wheelBasis0[2][m_indexRightAxis]);