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Add pybullet setVRCameraState and b3SetVRCameraStateCommandInit to set the VR camera root transform (position/orientation) and optional tracking object unique id (-1 for no tracking)

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Fix robotcontrol.py script, getContactPointData -> getContactPoints
This commit is contained in:
Erwin Coumans
2017-01-05 17:41:58 -08:00
parent c940f0ec47
commit 83e103ac15
10 changed files with 229 additions and 41 deletions
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15
examples/OpenGLWindow/SimpleCamera.cpp
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@@ -71,6 +71,21 @@ void SimpleCamera::setVRCamera(const float viewMat[16], const float projectionMa
}
}
bool SimpleCamera::getVRCamera(float viewMat[16], float projectionMatrix[16])
{
if (m_data->m_enableVR)
{
for (int i=0;i<16;i++)
{
viewMat[i] = m_data->m_viewMatrixVR[i];
projectionMatrix[i] = m_data->m_projectionMatrixVR[i];
}
}
return false;
}
void SimpleCamera::disableVRCamera()
{
m_data->m_enableVR = false;

2
examples/OpenGLWindow/SimpleCamera.h
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@@ -15,6 +15,8 @@ struct SimpleCamera : public CommonCameraInterface
virtual void getCameraViewMatrix(float m[16]) const;
virtual void setVRCamera(const float viewMat[16], const float projectionMatrix[16]);
virtual bool getVRCamera(float viewMat[16], float projectionMatrix[16]);
virtual void setVRCameraOffsetTransform(const float offset[16]);
virtual void disableVRCamera();