Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add Bullet C API and pybullet API to set projective texture matrices.

Browse Source
This commit is contained in:
yunfeibai
2018-03-18 18:45:54 -07:00
parent fd7aa8d0e1
commit 37696dd87e
12 changed files with 82 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -3081,6 +3081,19 @@ B3_SHARED_API void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle com
command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SHADOW;
}
B3_SHARED_API void b3RequestCameraImageSetProjectiveTextureMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[16], float projectionMatrix[16])
{
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_projectiveTextureProjectionMatrix[i] = projectionMatrix[i];
command->m_requestPixelDataArguments.m_projectiveTextureViewMatrix[i] = viewMatrix[i];
}
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES;
}
B3_SHARED_API void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3])
{
b3Matrix3x3 r(viewMatrix[0], viewMatrix[4], viewMatrix[8], viewMatrix[1], viewMatrix[5], viewMatrix[9], viewMatrix[2], viewMatrix[6], viewMatrix[10]);

21
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -3157,6 +3157,8 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
serverStatusOut.m_numDataStreamBytes = numRequestedPixels * totalBytesPerPixel;
float viewMat[16];
float projMat[16];
float projTextureViewMat[16];
float projTextureProjMat[16];
for (int i=0;i<16;i++)
{
viewMat[i] = clientCmd.m_requestPixelDataArguments.m_viewMatrix[i];
@@ -3186,7 +3188,7 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
projMat[i] = tmpCamResult.m_projectionMatrix[i];
}
}
}
}
bool handled = false;
if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
@@ -3195,6 +3197,23 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
{
useShadowMap = false;
useProjectiveTexture = true;
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES)!=0)
{
for (int i=0;i<16;i++)
{
projTextureViewMat[i] = clientCmd.m_requestPixelDataArguments.m_projectiveTextureViewMatrix[i];
projTextureProjMat[i] = clientCmd.m_requestPixelDataArguments.m_projectiveTextureProjectionMatrix[i];
}
}
else // If no specified matrices for projective texture, then use the camera matrices.
{
for (int i=0;i<16;i++)
{
projTextureViewMat[i] = viewMat[i];
projTextureProjMat[i] = projMat[i];
}
}
this->m_data->m_guiHelper->setProjectiveTextureMatrices(projTextureViewMat, projTextureProjMat);
}
else
{

5
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -1119,6 +1119,11 @@ public:
m_cs->setSharedParam(1,eGUIHelperDisplayCameraImageData);
workerThreadWait();
}
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
{
m_childGuiHelper->getAppInterface()->m_renderer->setProjectiveTextureMatrices(viewMatrix, projectionMatrix);
}
btDiscreteDynamicsWorld* m_dynamicsWorld;

3
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -240,6 +240,8 @@ struct RequestPixelDataArgs
float m_lightSpecularCoeff;
int m_hasShadow;
int m_flags;
float m_projectiveTextureViewMatrix[16];
float m_projectiveTextureProjectionMatrix[16];
};
enum EnumRequestPixelDataUpdateFlags
@@ -254,6 +256,7 @@ enum EnumRequestPixelDataUpdateFlags
REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF=128,
REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF=256,
REQUEST_PIXEL_ARGS_HAS_FLAGS = 512,
REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES=1024,
//don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h