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Merge pull request #697 from matpalm/addFovToRenderImage

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pybullet renderimage with projection matrix calculated using field of view
This commit is contained in:
erwincoumans
2016-07-13 18:46:42 -07:00
committed by GitHub
parent 6c856d9fa3 048c01d7c4
commit 31e7f2e309
3 changed files with 114 additions and 57 deletions
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37
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -892,6 +892,43 @@ void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle commandHandle, float fov, float aspect, float nearVal, float farVal)
{
float yScale = 1.0 / tan((3.141592538 / 180.0) * fov / 2);
float xScale = yScale / aspect;
float frustum[16];
frustum[0*4+0] = xScale;
frustum[0*4+1] = float(0);
frustum[0*4+2] = float(0);
frustum[0*4+3] = float(0);
frustum[1*4+0] = float(0);
frustum[1*4+1] = yScale;
frustum[1*4+2] = float(0);
frustum[1*4+3] = float(0);
frustum[2*4+0] = 0;
frustum[2*4+1] = 0;
frustum[2*4+2] = (nearVal + farVal) / (nearVal - farVal);
frustum[2*4+3] = float(-1);
frustum[3*4+0] = float(0);
frustum[3*4+1] = float(0);
frustum[3*4+2] = (float(2) * farVal * nearVal) / (nearVal - farVal);
frustum[3*4+3] = float(0);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
for (int i=0;i<16;i++)
{
command->m_requestPixelDataArguments.m_projectionMatrix[i] = frustum[i];
}
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle commandHandle, int width, int height )
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;