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

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -94,6 +94,7 @@ struct GUIHelperInterface
                                   int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
 		  int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied){}
 
+	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])=0;
 
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
 	
@@ -179,6 +180,10 @@ struct DummyGUIHelper : public GUIHelperInterface
             *numPixelsCopied = 0;
 	}
 	
+	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
+	{
+	}
+
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) 
 	{
 	}

examples/CommonInterfaces/CommonRenderInterface.h

@@ -49,6 +49,7 @@ struct CommonRenderInterface
 	
 	virtual void setLightPosition(const float lightPos[3]) = 0;
 	virtual void setLightPosition(const double lightPos[3]) = 0;
+	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]){};
 
 	virtual void renderScene()=0;
 	virtual void renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE){};

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -1098,6 +1098,10 @@ bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16
 	return false;
 }
 
+void OpenGLGuiHelper::setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
+{
+	m_data->m_glApp->m_renderer->setProjectiveTextureMatrices(viewMatrix, projectionMatrix);
+}
 
 void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
                                           unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -62,6 +62,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
                                   int startPixelIndex, int destinationWidth, 
                                   int destinationHeight, int* numPixelsCopied);
 	
+	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
+
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;
 
 	virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -225,6 +225,8 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 
 	GLfloat m_projectionMatrix[16];
 	GLfloat m_viewMatrix[16];
+	GLfloat m_projectiveTextureProjectionMatrix[16];
+	GLfloat m_projectiveTextureViewMatrix[16];
 	GLfloat m_viewMatrixInverse[16];
 
 	b3Vector3 m_lightPos;
@@ -257,6 +259,8 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 			m_projectionMatrix[i]=0;
 			m_viewMatrix[i]=0;
 			m_viewMatrixInverse[i]=0;
+			m_projectiveTextureProjectionMatrix[i]=0;
+			m_projectiveTextureViewMatrix[i]=0;
 		}
 
 	}
@@ -1466,6 +1470,14 @@ void GLInstancingRenderer::setLightPosition(const double lightPos[3])
 	m_data->m_lightPos[2] = lightPos[2];
 }
 
+void GLInstancingRenderer::setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
+{
+	for (int i = 0; i < 16; i++)
+	{
+		m_data->m_projectiveTextureViewMatrix[i] = viewMatrix[i];
+		m_data->m_projectiveTextureProjectionMatrix[i] = projectionMatrix[i];
+	}
+}
 
 void GLInstancingRenderer::updateCamera(int upAxis)
 {
@@ -2180,7 +2192,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 
 	// TODO: Expose the projective texture matrix setup. Temporarily set it to be the same as camera view projection matrix.
 	GLfloat textureMVP[16];
-	b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,textureMVP);
+	b3Matrix4x4Mul16(m_data->m_projectiveTextureProjectionMatrix,m_data->m_projectiveTextureViewMatrix,textureMVP);
 
 	//float m_frustumZNear=0.1;
     //float m_frustumZFar=100.f;

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -131,6 +131,7 @@ public:
 	virtual void setLightPosition(const float lightPos[3]);
 	virtual void setLightPosition(const double lightPos[3]);
 	void setLightSpecularIntensity(const float lightSpecularIntensity[3]);
+	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
 
 	virtual void	resize(int width, int height);
 	virtual int	getScreenWidth()

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -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]);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -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];
@@ -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
 			{

examples/SharedMemory/PhysicsServerExample.cpp

@@ -1120,6 +1120,11 @@ public:
 		workerThreadWait();
 	}
 	
+	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
+	{
+		m_childGuiHelper->getAppInterface()->m_renderer->setProjectiveTextureMatrices(viewMatrix, projectionMatrix);
+	}
+
 	btDiscreteDynamicsWorld* m_dynamicsWorld;
 
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) 

examples/SharedMemory/SharedMemoryCommands.h

@@ -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
 	

examples/pybullet/examples/projective_texture.py

@@ -25,8 +25,12 @@ if (useRealTimeSimulation):
 
 while 1:
 	if (useRealTimeSimulation):
-		p.getCameraImage(300, 300, lightColor=[1.0,0.0,0.0], renderer=p.ER_BULLET_HARDWARE_OPENGL, flags=p.ER_USE_PROJECTIVE_TEXTURE)
+		camera = p.getDebugVisualizerCamera()
+		viewMat = camera[2]
+		projMat = camera[3]
+		#An example of setting the view matrix for the projective texture.
+		#viewMat = p.computeViewMatrix(cameraEyePosition=[7,0,0], cameraTargetPosition=[0,0,0], cameraUpVector=[0,0,1])
+		p.getCameraImage(300, 300, renderer=p.ER_BULLET_HARDWARE_OPENGL, flags=p.ER_USE_PROJECTIVE_TEXTURE, projectiveTextureView=viewMat, projectiveTextureProj=projMat)
 		p.setGravity(0,0,0)
-		sleep(0.01) # Time in seconds.
 	else:
 		p.stepSimulation()

examples/pybullet/pybullet.c

@@ -6761,10 +6761,12 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 {
 	/// request an image from a simulated camera, using software or hardware renderer.
 	struct b3CameraImageData imageData;
-	PyObject *objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
+	PyObject *objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0, *objProjectiveTextureView = 0, *objProjectiveTextureProj = 0;
 	int width, height;
 	float viewMatrix[16];
 	float projectionMatrix[16];
+	float projectiveTextureView[16];
+	float projectiveTextureProj[16];
 	float lightDir[3];
 	float lightColor[3];
 	float lightDist = -1;
@@ -6779,9 +6781,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
 	// set camera resolution, optionally view, projection matrix, light direction, light color, light distance, shadow
-	static char* kwlist[] = {"width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", "renderer", "flags", "physicsClientId", NULL};
+	static char* kwlist[] = {"width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", "renderer", "flags", "projectiveTextureView", "projectiveTextureProj", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifffiii", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff, &renderer, &flags, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifffiiOOi", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff, &renderer, &flags, &objProjectiveTextureView, &objProjectiveTextureProj, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -6837,6 +6839,10 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	{
 		b3RequestCameraImageSetFlags(command, flags);
 	}
+	if (objProjectiveTextureView && objProjectiveTextureProj && pybullet_internalSetMatrix(objProjectiveTextureView, projectiveTextureView) && (pybullet_internalSetMatrix(objProjectiveTextureProj, projectiveTextureProj)))
+	{
+		b3RequestCameraImageSetProjectiveTextureMatrices(command, projectiveTextureView, projectiveTextureProj);
+	}
 	if (renderer>=0)
 	{
 		b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL