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

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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
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -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]);