Merge pull request #1167 from YunfeiBai/master

Swap yaw and pitch, and use setEulerZYX in camera computation. Add camera yaw, pitch, distance, and target to getDebugVisualizerCamera. Add rgba color reset for TinyRender.

examples/BasicDemo/BasicExample.cpp

@@ -39,10 +39,10 @@ struct BasicExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 4;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/Benchmarks/BenchmarkDemo.cpp

@@ -109,10 +109,10 @@ class BenchmarkDemo : public CommonRigidBodyMTBase
 	void resetCamera()
 	{
 		float dist = 120;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,10.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/Collision/CollisionTutorialBullet2.cpp

@@ -371,8 +371,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 10.5;
-		float pitch = 136;
+		float pitch = -32;
-		float yaw = 32;
+		float yaw = 136;
 		float targetPos[3]={0,0,0};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -57,9 +57,9 @@ struct GUIHelperInterface
 
 	virtual void setUpAxis(int axis)=0;
 
-	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)=0;
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)=0;
 
-	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const
+	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const
 	{
 		return false;
 	}
@@ -153,7 +153,7 @@ struct DummyGUIHelper : public GUIHelperInterface
 	virtual void setUpAxis(int axis)
 	{
 	}
-	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
 	{
 	}
 

examples/CommonInterfaces/CommonGraphicsAppInterface.h

@@ -201,10 +201,10 @@ struct CommonGraphicsApp
 				{
 		//			if (b3Fabs(xDelta)>b3Fabs(yDelta))
 		//			{
-						pitch -= xDelta*m_mouseMoveMultiplier;
+						pitch -= yDelta*m_mouseMoveMultiplier;
 		//			} else
 		//			{
-						yaw += yDelta*m_mouseMoveMultiplier;
+						yaw -= xDelta*m_mouseMoveMultiplier;
 		//			}
 				}
 

examples/Constraints/ConstraintDemo.cpp

@@ -50,10 +50,10 @@ class AllConstraintDemo : public  CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 27;
-		float pitch = 720;
+		float pitch = -30;
-		float yaw = 30;
+		float yaw = 720;
 		float targetPos[3]={2,0,-10};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	virtual bool	keyboardCallback(int key, int state);

examples/Constraints/ConstraintPhysicsSetup.cpp

@@ -18,10 +18,10 @@ struct ConstraintPhysicsSetup : public CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 7;
-		float pitch = 721;
+		float pitch = -44;
-		float yaw = 44;
+		float yaw = 721;
 		float targetPos[3]={8,1,-11};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 

examples/Constraints/Dof6Spring2Setup.cpp

@@ -55,10 +55,10 @@ struct Dof6Spring2Setup : public CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 722;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 722;
 		float targetPos[3]={4,2,-11};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/Constraints/TestHingeTorque.cpp

@@ -24,10 +24,10 @@ struct TestHingeTorque : public CommonRigidBodyBase
 	{
     
         float dist = 5;
-        float pitch = 270;
+        float pitch = -21;
-        float yaw = 21;
+        float yaw = 270;
         float targetPos[3]={-1.34,3.4,-0.44};
-        m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+        m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 

examples/DynamicControlDemo/MotorDemo.cpp

@@ -63,10 +63,10 @@ public:
 	void resetCamera()
 	{
 		float dist = 11;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/Evolution/NN3DWalkers.cpp

@@ -145,10 +145,10 @@ public:
 	void resetCamera()
 	{
 		float dist = 11;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	// Evaluation

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -979,7 +979,7 @@ void OpenGLGuiHelper::setVisualizerFlag(int flag, int enable)
 }
 
 
-void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+void OpenGLGuiHelper::resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
 {
 	if (getRenderInterface() && getRenderInterface()->getActiveCamera())
 	{
@@ -990,7 +990,7 @@ void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float c
 	}
 }
 
-bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const
+bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float cameraTarget[3]) const
 {
 	if (getRenderInterface() && getRenderInterface()->getActiveCamera())
 	{
@@ -1036,6 +1036,13 @@ bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16
 		vert[0] = vertical[0];
 		vert[1] = vertical[1];
 		vert[2] = vertical[2];
+		
+		*yaw = getRenderInterface()->getActiveCamera()->getCameraYaw();
+		*pitch = getRenderInterface()->getActiveCamera()->getCameraPitch();
+		*camDist = getRenderInterface()->getActiveCamera()->getCameraDistance();
+		cameraTarget[0] = camTarget[0];
+		cameraTarget[1] = camTarget[1];
+		cameraTarget[2] = camTarget[2];
 		return true;
 	}
 	return false;

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -47,8 +47,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual void setUpAxis(int axis);
 	
     
-	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
-	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const;
+	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const;
 
 	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
                                   unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 

examples/ExtendedTutorials/Bridge.cpp

@@ -35,10 +35,10 @@ struct BridgeExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/ExtendedTutorials/Chain.cpp

@@ -35,10 +35,10 @@ struct ChainExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/ExtendedTutorials/InclinedPlane.cpp

@@ -62,10 +62,10 @@ struct InclinedPlaneExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 

examples/ExtendedTutorials/MultiPendulum.cpp

@@ -58,10 +58,10 @@ struct MultiPendulumExample: public CommonRigidBodyBase {
 	virtual void applyPendulumForce(btScalar pendulumForce);
 	void resetCamera() {
 		float dist = 41;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3] = { 0, 0.46, 0 };
-		m_guiHelper->resetCamera(dist, pitch, yaw, targetPos[0], targetPos[1],
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1],
 			targetPos[2]);
 	}
 

examples/ExtendedTutorials/MultipleBoxes.cpp

@@ -35,10 +35,10 @@ struct MultipleBoxesExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/ExtendedTutorials/NewtonsCradle.cpp

@@ -58,10 +58,10 @@ struct NewtonsCradleExample: public CommonRigidBodyBase {
 	virtual void applyPendulumForce(btScalar pendulumForce);
 	void resetCamera() {
 		float dist = 41;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3] = { 0, 0.46, 0 };
-		m_guiHelper->resetCamera(dist, pitch, yaw, targetPos[0], targetPos[1],
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1],
 			targetPos[2]);
 	}
 

examples/ExtendedTutorials/NewtonsRopeCradle.cpp

@@ -90,10 +90,10 @@ struct NewtonsRopeCradleExample : public CommonRigidBodyBase {
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	std::vector<btSliderConstraint*> constraints;

examples/ExtendedTutorials/RigidBodyFromObj.cpp

@@ -43,10 +43,10 @@ struct RigidBodyFromObjExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 11;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/ExtendedTutorials/SimpleBox.cpp

@@ -35,10 +35,10 @@ struct SimpleBoxExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/ExtendedTutorials/SimpleCloth.cpp

@@ -61,10 +61,10 @@ struct SimpleClothExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	void createSoftBody(const btScalar size, const int num_x, const int num_z, const int fixed=1+2);

examples/ExtendedTutorials/SimpleJoint.cpp

@@ -35,10 +35,10 @@ struct SimpleJointExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/ForkLift/ForkLiftDemo.cpp

@@ -144,10 +144,10 @@ class ForkLiftDemo  : public CommonExampleInterface
 	virtual void resetCamera()
 	{
 		float dist = 8;
-		float pitch = -45;
+		float pitch = -32;
-		float yaw = 32;
+		float yaw = -45;
 		float targetPos[3]={-0.33,-0.72,4.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	/*static DemoApplication* Create()

examples/FractureDemo/FractureDemo.cpp

@@ -90,10 +90,10 @@ public:
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 	

examples/GyroscopicDemo/GyroscopicSetup.cpp

@@ -21,10 +21,10 @@ struct GyroscopicSetup : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 20;
-		float pitch = 180;
+		float pitch = -16;
-		float yaw = 16;
+		float yaw = 180;
 		float targetPos[3]={-2.4,0.4,-0.24};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 };

examples/Importers/ImportBsp/ImportBspExample.cpp

@@ -67,10 +67,10 @@ class BspDemo : public CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 43;
-		float pitch = -175;
+		float pitch = -12;
-		float yaw = 12;
+		float yaw = -175;
 		float targetPos[3]={4,-25,-6};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 

examples/Importers/ImportBullet/SerializeSetup.cpp

@@ -22,10 +22,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 9.5;
-		float pitch = -2.8;
+		float pitch = -20;
-		float yaw = 20;
+		float yaw = -2.8;
 		float targetPos[3]={-0.2,-1.4,3.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 };

examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp

@@ -41,10 +41,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 16;
-		float pitch = -140;
+		float pitch = -28;
-		float yaw = 28;
+		float yaw = -140;
 		float targetPos[3]={-4,-3,-3};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 };

examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp

@@ -38,10 +38,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3.5;
-		float pitch = -136;
+		float pitch = -28;
-		float yaw = 28;
+		float yaw = -136;
 		float targetPos[3]={0.47,0,-0.64};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/Importers/ImportObjDemo/ImportObjExample.cpp

@@ -29,10 +29,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 18;
-		float pitch = 120;
+		float pitch = -46;
-		float yaw = 46;
+		float yaw = 120;
 		float targetPos[3]={-2,-2,-2};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 };

examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp

@@ -50,10 +50,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3.5;
-		float pitch = -136;
+		float pitch = -28;
-		float yaw = 28;
+		float yaw = -136;
 		float targetPos[3]={0.47,0,-0.64};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp

@@ -25,10 +25,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3.5;
-		float pitch = -136;
+		float pitch = -28;
-		float yaw = 28;
+		float yaw = -136;
 		float targetPos[3]={0.47,0,-0.64};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 };

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -50,10 +50,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3.5;
-		float pitch = -136;
+		float pitch = -28;
-		float yaw = 28;
+		float yaw = -136;
 		float targetPos[3]={0.47,0,-0.64};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/InverseDynamics/InverseDynamicsExample.cpp

@@ -87,10 +87,10 @@ public:
     virtual void resetCamera()
     {
         float dist = 1.5;
-        float pitch = -80;
+        float pitch = -10;
-        float yaw = 10;
+        float yaw = -80;
         float targetPos[3]={0,0,0};
-        m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+        m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
     }
 };
 

examples/InverseKinematics/InverseKinematicsExample.cpp

@@ -313,8 +313,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 1.3;
-		float pitch = 120;
+		float pitch = -13;
-		float yaw = 13;
+		float yaw = 120;
 		float targetPos[3]={-0.35,0.14,0.25};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{

examples/MultiBody/InvertedPendulumPDControl.cpp

@@ -30,10 +30,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 270;
+		float pitch = -21;
-		float yaw = 21;
+		float yaw = 270;
 		float targetPos[3]={-1.34,1.4,3.44};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 

examples/MultiBody/MultiBodyConstraintFeedback.cpp

@@ -26,10 +26,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 270;
+		float pitch = -21;
-		float yaw = 21;
+		float yaw = 270;
 		float targetPos[3]={-1.34,3.4,-0.44};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 

examples/MultiBody/MultiBodySoftContact.cpp

@@ -27,10 +27,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 270;
+		float pitch = -21;
-		float yaw = 21;
+		float yaw = 270;
 		float targetPos[3]={0,0,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 

examples/MultiBody/MultiDofDemo.cpp

@@ -34,10 +34,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 1;
-		float pitch = 50;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 50;
 		float targetPos[3]={-3,2.8,-2.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 

examples/MultiBody/Pendulum.cpp

@@ -40,10 +40,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 270;
+		float pitch = -21;
-		float yaw = 21;
+		float yaw = 270;
 		float targetPos[3]={0,0,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 	

examples/MultiBody/TestJointTorqueSetup.cpp

@@ -27,10 +27,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 270;
+		float pitch = -21;
-		float yaw = 21;
+		float yaw = 270;
 		float targetPos[3]={-1.34,3.4,-0.44};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 

examples/MultiThreadedDemo/MultiThreadedDemo.cpp

@@ -97,8 +97,8 @@ public:
     virtual void resetCamera() BT_OVERRIDE
 	{
         m_guiHelper->resetCamera( m_cameraDist,
-                                  m_cameraPitch,
                                   m_cameraYaw,
+                                  m_cameraPitch,
                                   m_cameraTargetPos.x(),
                                   m_cameraTargetPos.y(),
                                   m_cameraTargetPos.z()
@@ -114,8 +114,8 @@ MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper)
     m_groundBody = NULL;
     m_groundMovePhase = 0.0f;
     m_cameraTargetPos = btVector3( 0.0f, 0.0f, 0.0f );
-    m_cameraPitch = 90.0f;
+    m_cameraPitch = -30.0f;
-    m_cameraYaw = 30.0f;
+    m_cameraYaw = 90.0f;
     m_cameraDist = 48.0f;
     helper->setUpAxis( kUpAxis );
 }

examples/MultiThreading/MultiThreadingExample.cpp

@@ -304,8 +304,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 10.5;
-		float pitch = 136;
+		float pitch = -32;
-		float yaw = 32;
+		float yaw = 136;
 		float targetPos[3]={0,0,0};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{

examples/OpenCL/broadphase/PairBench.cpp

@@ -71,10 +71,10 @@ public:
 			dist = 130;
 		}
 
-		float pitch = 62;
+		float pitch = -33;
-		float yaw = 33;
+		float yaw = 62;
 		float targetPos[4]={15.5,12.5,15.5,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 };

examples/OpenCL/rigidbody/GpuConvexScene.cpp

@@ -150,8 +150,8 @@ void GpuConvexScene::setupScene()
 	m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraTargetPosition(camPos[0],camPos[1],camPos[2]);
 	m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(150);
 	//m_instancingRenderer->setCameraYaw(85);
-	m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraYaw(30);
+	m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraYaw(225);
-	m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(225);
+	m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(-30);
 	
 
 	m_guiHelper->getRenderInterface()->updateCamera(1);//>updateCamera();

examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp

@@ -86,10 +86,10 @@ m_window(0)
 void GpuRigidBodyDemo::resetCamera()
 {
 	float dist = 114;
-	float pitch = 52;
+	float pitch = -35;
-	float yaw = 35;
+	float yaw = 52;
 	float targetPos[3]={0,0,0};
-	m_data->m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	m_data->m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 }
 
 GpuRigidBodyDemo::~GpuRigidBodyDemo()

examples/OpenGLWindow/SimpleCamera.cpp

@@ -205,6 +205,10 @@ int		SimpleCamera::getCameraUpAxis() const
 
 void SimpleCamera::update()
 {
+	b3Scalar yawRad = m_data->m_yaw * b3Scalar(0.01745329251994329547);// rads per deg
+	b3Scalar pitchRad = m_data->m_pitch * b3Scalar(0.01745329251994329547);// rads per deg
+	b3Scalar rollRad = 0.0;
+	b3Quaternion eyeRot;
 	
 	int forwardAxis(-1);
 	switch (m_data->m_cameraUpAxis)
@@ -213,11 +217,13 @@ void SimpleCamera::update()
     	forwardAxis = 2;
     	m_data->m_cameraUp = b3MakeVector3(0,1,0);
     	//gLightPos = b3MakeVector3(-50.f,100,30);
+		eyeRot.setEulerZYX(rollRad, yawRad, -pitchRad);
     	break;
     case 2:
 		forwardAxis = 1;
 		m_data->m_cameraUp = b3MakeVector3(0,0,1);
 		//gLightPos = b3MakeVector3(-50.f,30,100);
+		eyeRot.setEulerZYX(yawRad, rollRad, pitchRad);
 		break;
     default:
 		{
@@ -238,19 +244,7 @@ void SimpleCamera::update()
 		m_data->m_cameraForward.normalize();
 	}
 	
-
+	eyePos = b3Matrix3x3(eyeRot)*eyePos;
-//    m_azi=m_azi+0.01;
-	b3Scalar rele = m_data->m_yaw * b3Scalar(0.01745329251994329547);// rads per deg
-	b3Scalar razi = m_data->m_pitch * b3Scalar(0.01745329251994329547);// rads per deg
-
-
-	b3Quaternion rot(m_data->m_cameraUp,razi);
-
-	
-	b3Vector3 right = m_data->m_cameraUp.cross(m_data->m_cameraForward);
-	b3Quaternion roll(right,-rele);
-
-	eyePos = b3Matrix3x3(rot) * b3Matrix3x3(roll) * eyePos;
 
 	m_data->m_cameraPosition = eyePos;
 	m_data->m_cameraPosition+= m_data->m_cameraTargetPosition;

examples/Planar2D/Planar2D.cpp

@@ -96,10 +96,10 @@ class Planar2D : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 9;
-		float pitch = 539;
+		float pitch = -11;
-		float yaw = 11;
+		float yaw = 539;
 		float targetPos[3]={8.6,10.5,-20.6};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 	

examples/Raycast/RaytestDemo.cpp

@@ -55,10 +55,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 18;
-		float pitch = 129;
+		float pitch = -30;
-		float yaw = 30;
+		float yaw = 129;
 		float targetPos[3]={-4.6,-4.7,-5.75};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 };

examples/RenderingExamples/CoordinateSystemDemo.cpp

@@ -143,8 +143,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3.5;
-		float pitch = 136;
+		float pitch = -32;
-		float yaw = 32;
+		float yaw = 136;
 		float targetPos[3]={0,0,0};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{

examples/RenderingExamples/DynamicTexturedCubeDemo.cpp

@@ -121,8 +121,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 1.15;
-		float pitch = 396;
+		float pitch = -33.7;
-		float yaw = 33.7;
+		float yaw = 396;
 		float targetPos[3]={-0.5,0.7,1.45};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{

examples/RenderingExamples/RenderInstancingDemo.cpp

@@ -128,8 +128,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 13;
-		float pitch = 50;
+		float pitch = -13;
-		float yaw = 13;
+		float yaw = 50;
 		float targetPos[3]={-1,0,-0.3};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{

examples/RenderingExamples/TinyRendererSetup.cpp

@@ -137,10 +137,10 @@ struct TinyRendererSetup : public CommonExampleInterface
 	void resetCamera()
 	{
 		float dist = 11;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 };

examples/RigidBody/RigidBodySoftContact.cpp

@@ -47,10 +47,10 @@ struct RigidBodySoftContact : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 3;
-		float pitch = 52;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/RoboticsLearning/GripperGraspExample.cpp

@@ -496,8 +496,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 1.5;
-        float pitch = 18;
+        float pitch = -10;
-        float yaw = 10;
+        float yaw = 18;
 		float targetPos[3]={-0.2,0.8,0.3};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{

examples/RoboticsLearning/KukaGraspExample.cpp

@@ -283,8 +283,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3;
-		float pitch = 0;
+		float pitch = -30;
-		float yaw = 30;
+		float yaw = 0;
 		float targetPos[3]={-0.2,0.8,0.3};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{

examples/RoboticsLearning/R2D2GraspExample.cpp

@@ -188,8 +188,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3;
-		float pitch = -75;
+		float pitch = -30;
-		float yaw = 30;
+		float yaw = -75;
 		float targetPos[3]={-0.2,0.8,0.3};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{

examples/RollingFrictionDemo/RollingFrictionDemo.cpp

@@ -59,10 +59,10 @@ public:
 	void resetCamera()
 	{
 		float dist = 35;
-		float pitch = 0;
+		float pitch = -14;
-		float yaw = 14;
+		float yaw = 0;
 		float targetPos[3]={0,0,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 };

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -1978,6 +1978,30 @@ void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, in
     command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SHADOW;
 }
 
+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]);
+	b3Vector3 p = b3MakeVector3(viewMatrix[12], viewMatrix[13], viewMatrix[14]);
+	b3Transform t(r,p);
+	b3Transform tinv = t.inverse();
+	b3Matrix3x3 basis = tinv.getBasis();
+	b3Vector3 origin = tinv.getOrigin();
+	b3Vector3 s = b3MakeVector3(basis[0][0], basis[1][0], basis[2][0]);
+	b3Vector3 u = b3MakeVector3(basis[0][1], basis[1][1], basis[2][1]);
+	b3Vector3 f = b3MakeVector3(-basis[0][2], -basis[1][2], -basis[2][2]);
+	b3Vector3 eye = origin;
+	cameraPosition[0] = eye[0];
+	cameraPosition[1] = eye[1];
+	cameraPosition[2] = eye[2];
+	b3Vector3 center = f + eye;
+	cameraTargetPosition[0] = center[0];
+	cameraTargetPosition[1] = center[1];
+	cameraTargetPosition[2] = center[2];
+	cameraUp[0] = u[0];
+	cameraUp[1] = u[1];
+	cameraUp[2] = u[2];
+}
+
 void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16])
 {
 	b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
@@ -2019,76 +2043,42 @@ void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], fl
 	b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
 	b3Vector3 eyePos = b3MakeVector3(0, 0, 0);
 	
-	int forwardAxis(-1);
-
-	{
-
-		switch (upAxis)
-		{
-
-		case 1:
-		{
-
-
-			forwardAxis = 0;
-			eyePos[forwardAxis] = -distance;
-			camForward = b3MakeVector3(eyePos[0], eyePos[1], eyePos[2]);
-			if (camForward.length2() < B3_EPSILON)
-			{
-				camForward.setValue(1.f, 0.f, 0.f);
-			}
-			else
-			{
-				camForward.normalize();
-			}
-			b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
-			b3Quaternion rollRot(camForward, rollRad);
-
-			camUpVector = b3QuatRotate(rollRot, b3MakeVector3(0, 1, 0));
-			//gLightPos = b3MakeVector3(-50.f,100,30);
-			break;
-		}
-		case 2:
-		{
-
-
-			forwardAxis = 1;
-			eyePos[forwardAxis] = -distance;
-			camForward = b3MakeVector3(eyePos[0], eyePos[1], eyePos[2]);
-			if (camForward.length2() < B3_EPSILON)
-			{
-				camForward.setValue(1.f, 0.f, 0.f);
-			}
-			else
-			{
-				camForward.normalize();
-			}
-
-			b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
-			b3Quaternion rollRot(camForward, rollRad);
-
-			camUpVector = b3QuatRotate(rollRot, b3MakeVector3(0, 0, 1));
-			//gLightPos = b3MakeVector3(-50.f,30,100);
-			break;
-		}
-		default:
-		{
-			//b3Assert(0);
-			return;
-		}
-		};
-	}
-
-
 	b3Scalar yawRad = yaw * b3Scalar(0.01745329251994329547);// rads per deg
 	b3Scalar pitchRad = pitch * b3Scalar(0.01745329251994329547);// rads per deg
+	b3Scalar rollRad = 0.0;
+	b3Quaternion eyeRot;
 	
-	b3Quaternion pitchRot(camUpVector, pitchRad);
+	int forwardAxis(-1);
+	switch (upAxis)
+	{
+		case 1:
+			forwardAxis = 2;
+			camUpVector = b3MakeVector3(0,1,0);
+			eyeRot.setEulerZYX(rollRad, yawRad, -pitchRad);
+			break;
+		case 2:
+			forwardAxis = 1;
+			camUpVector = b3MakeVector3(0,0,1);
+			eyeRot.setEulerZYX(yawRad, rollRad, pitchRad);
+			break;
+		default:
+			return;
+	};
 	
-	b3Vector3 right = camUpVector.cross(camForward);
+	eyePos[forwardAxis] = -distance;
-	b3Quaternion yawRot(right, -yawRad);
+	
+	camForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
+	if (camForward.length2() < B3_EPSILON)
+	{
+		camForward.setValue(1.f,0.f,0.f);
+	} else
+	{
+		camForward.normalize();
+	}
+	
+	eyePos = b3Matrix3x3(eyeRot)*eyePos;
+	camUpVector = b3Matrix3x3(eyeRot)*camUpVector;
 	
-	eyePos = b3Matrix3x3(pitchRot) * b3Matrix3x3(yawRot) * eyePos;
 	camPos = eyePos;
 	camPos += camTargetPos;
 

examples/SharedMemory/PhysicsClientC_API.h

@@ -166,6 +166,7 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
 ///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices
 void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]);
 void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[16]);
+void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3]);
 
 ///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices
 void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[16]);

examples/SharedMemory/PhysicsClientExample.cpp

@@ -94,10 +94,10 @@ protected:
 	virtual void resetCamera()
 	{
         float dist = 3.45;
-        float pitch = 287;
+        float pitch = -16.2;
-        float yaw = 16.2;
+        float yaw = 287;
         float targetPos[3]={2.05,0.02,0.53};//-3,2.8,-2.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 
 	}
     
@@ -272,7 +272,6 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
         case CMD_REQUEST_CAMERA_IMAGE_DATA:
         {
             ///request an image from a simulated camera, using a software renderer.
-            
             b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
             //b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
             
@@ -329,6 +328,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
                     //b3Printf("Joint %d: %f", i, sensorState.m_jointMotorTorque);
                 }
 			}
+			
             break;
         };
 
@@ -511,6 +511,18 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
             break;
         }
+		case CMD_UPDATE_VISUAL_SHAPE:
+		{
+			int objectUniqueId = 0;
+			int linkIndex = -1;
+			int shapeIndex = -1;
+			int textureIndex = -1;
+			double rgbaColor[4] = {0.0, 1.0, 0.0, 1.0};
+			b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle, objectUniqueId, linkIndex, shapeIndex, textureIndex);
+			b3UpdateVisualShapeRGBAColor(commandHandle, rgbaColor);
+			b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+			break;
+		}
 
         default:
         {
@@ -606,6 +618,7 @@ void	PhysicsClientExample::createButtons()
         createButton("Load SDF",CMD_LOAD_SDF,  isTrigger);
 		createButton("Save World",CMD_SAVE_WORLD,  isTrigger);
         createButton("Set Shadow",CMD_SET_SHADOW, isTrigger);
+		createButton("Update Visual Shape",CMD_UPDATE_VISUAL_SHAPE, isTrigger);
         createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
         createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
 		createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION,  isTrigger);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -4545,7 +4545,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						serverCmd.m_visualizerCameraResultArgs.m_camUp,
 						serverCmd.m_visualizerCameraResultArgs.m_camForward,
 						serverCmd.m_visualizerCameraResultArgs.m_horizontal,
-						serverCmd.m_visualizerCameraResultArgs.m_vertical);
+						serverCmd.m_visualizerCameraResultArgs.m_vertical,
+						&serverCmd.m_visualizerCameraResultArgs.m_yaw,
+						&serverCmd.m_visualizerCameraResultArgs.m_pitch,
+						&serverCmd.m_visualizerCameraResultArgs.m_dist,
+						serverCmd.m_visualizerCameraResultArgs.m_target);
                     serverCmd.m_type = result ? CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED: CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED;
 					hasStatus = true;
 					break;
@@ -4566,8 +4570,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     if (clientCmd.m_updateFlags&COV_SET_CAMERA_VIEW_MATRIX)
                     {
                         m_data->m_guiHelper->resetCamera( clientCmd.m_configureOpenGLVisualizerArguments.m_cameraDistance,
-                                                          clientCmd.m_configureOpenGLVisualizerArguments.m_cameraPitch,
                                                           clientCmd.m_configureOpenGLVisualizerArguments.m_cameraYaw,
+                                                          clientCmd.m_configureOpenGLVisualizerArguments.m_cameraPitch,
                                                           clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[0],
                                                           clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[1],
                                                           clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[2]);
@@ -5679,7 +5683,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									if (bodyHandle->m_multiBody->getBaseCollider())
 									{
-										//m_data->m_visualConverter.changeRGBAColor(...)
+										m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 										int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
 										if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
 										{
@@ -5697,7 +5701,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									{
 										if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
 										{
-											//m_data->m_visualConverter.changeRGBAColor(...)
+											m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 											int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
 											if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
 											{

examples/SharedMemory/PhysicsServerExample.cpp

@@ -957,14 +957,14 @@ public:
 	{
 		m_childGuiHelper->setUpAxis(axis);
 	}
-	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
 	{
-	    m_childGuiHelper->resetCamera(camDist,pitch,yaw,camPosX,camPosY,camPosZ);
+	    m_childGuiHelper->resetCamera(camDist,yaw,pitch,camPosX,camPosY,camPosZ);
 	}
 
-	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const
+	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const
 	{
-		return m_childGuiHelper->getCameraInfo(width,height,viewMatrix,projectionMatrix,camUp,camForward,hor,vert);
+		return m_childGuiHelper->getCameraInfo(width,height,viewMatrix,projectionMatrix,camUp,camForward,hor,vert,yaw,pitch,camDist,camTarget);
 	}
 
 
@@ -1208,10 +1208,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 50;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 50;
 		float targetPos[3]={0,0,0};//-3,2.8,-2.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
     virtual bool wantsTermination();

examples/SharedMemory/SharedMemoryPublic.h

@@ -286,6 +286,11 @@ struct b3OpenGLVisualizerCameraInfo
 
 	float m_horizontal[3];
 	float m_vertical[3];
+	
+	float m_yaw;
+	float m_pitch;
+	float m_dist;
+	float m_target[3];
 };
 
 enum b3VREventType

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -115,11 +115,11 @@ TinyRendererVisualShapeConverter::TinyRendererVisualShapeConverter()
 	m_data = new TinyRendererVisualShapeConverterInternalData();
 	
 	float dist = 1.5;
-	float pitch = -80;
+	float pitch = -10;
-	float yaw = 10;
+	float yaw = -80;
 	float targetPos[3]={0,0,0};
 	m_data->m_camera.setCameraUpAxis(m_data->m_upAxis);
-	resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 
 
 }
@@ -671,6 +671,34 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
 	return 0;
 }
 
+void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])
+{
+	int start = -1;
+	for (int i = 0; i < m_data->m_visualShapes.size(); i++)
+	{
+		if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId && m_data->m_visualShapes[i].m_linkIndex == linkIndex)
+		{
+			start = i;
+			m_data->m_visualShapes[i].m_rgbaColor[0] = rgbaColor[0];
+			m_data->m_visualShapes[i].m_rgbaColor[1] = rgbaColor[1];
+			m_data->m_visualShapes[i].m_rgbaColor[2] = rgbaColor[2];
+			m_data->m_visualShapes[i].m_rgbaColor[3] = rgbaColor[3];
+			break;
+		}
+	}
+	
+	TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(start);
+	TinyRendererObjectArray* visualArray = *visualArrayPtr;
+	
+	btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(start);
+	const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
+	
+	float rgba[4] = {rgbaColor[0], rgbaColor[1], rgbaColor[2], rgbaColor[3]};
+	for (int v=0;v<visualArray->m_renderObjects.size();v++)
+	{
+		visualArray->m_renderObjects[v]->m_model->setColorRGBA(rgba);
+	}
+}
 
 void TinyRendererVisualShapeConverter::setUpAxis(int axis)
 {
@@ -678,7 +706,7 @@ void TinyRendererVisualShapeConverter::setUpAxis(int axis)
     m_data->m_camera.setCameraUpAxis(axis);
     m_data->m_camera.update();
 }
-void TinyRendererVisualShapeConverter::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+void TinyRendererVisualShapeConverter::resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
 {
     m_data->m_camera.setCameraDistance(camDist);
     m_data->m_camera.setCameraPitch(pitch);

examples/SharedMemory/TinyRendererVisualShapeConverter.h

@@ -22,11 +22,13 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
 
 	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
 	
+	virtual void changeRGBAColor(int bodyUniqueId, int shapeIndex, const double rgbaColor[4]);
+
 	virtual void removeVisualShape(class btCollisionObject* colObj);
 
 	void setUpAxis(int axis);
 	
-    void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
+    void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
 	
     void clearBuffers(struct TGAColor& clearColor);
 

examples/SoftDemo/SoftDemo.cpp

@@ -107,10 +107,10 @@ public:
 	{
 		//@todo depends on current_demo?
 		float dist = 45;
-		float pitch = 27;
+		float pitch = -31;
-		float yaw = 31;
+		float yaw = 27;
 		float targetPos[3]={10-1,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	SoftDemo(struct GUIHelperInterface* helper) 

examples/Tutorial/Dof6ConstraintTutorial.cpp

@@ -56,10 +56,10 @@ struct Dof6ConstraintTutorial : public CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 722;
+		float pitch = -35;
-		float yaw = 35;
+		float yaw = 722;
 		float targetPos[3]={4,2,-11};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 

examples/Tutorial/Tutorial.cpp

@@ -614,8 +614,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 10.5;
-		float pitch = 136;
+		float pitch = -32;
-		float yaw = 32;
+		float yaw = 136;
 		float targetPos[3]={0,0,0};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{

examples/Vehicles/Hinge2Vehicle.cpp

@@ -121,10 +121,10 @@ class Hinge2Vehicle  : public CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 8;
-		float pitch = -45;
+		float pitch = -32;
-		float yaw = 32;
+		float yaw = -45;
 		float targetPos[3]={-0.33,-0.72,4.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	/*static DemoApplication* Create()

examples/VoronoiFracture/VoronoiFractureDemo.cpp

@@ -108,10 +108,10 @@ class VoronoiFractureDemo : public CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 18;
-		float pitch = 129;
+		float pitch = -30;
-		float yaw = 30;
+		float yaw = 129;
 		float targetPos[3]={-1.5,4.7,-2};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 	

examples/pybullet/examples/kuka_with_cube_playback.py

@@ -52,7 +52,7 @@ def readLogFile(filename, verbose = True):
 #clid = p.connect(p.SHARED_MEMORY)
 p.connect(p.GUI)
 p.loadURDF("plane.urdf",[0,0,-0.3])
-p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])
+p.loadURDF("kuka_iiwa/model.urdf",[0,0,1])
 p.loadURDF("cube.urdf",[2,2,5])
 p.loadURDF("cube.urdf",[-2,-2,5])
 p.loadURDF("cube.urdf",[2,-2,5])

examples/pybullet/pybullet.c

@@ -3963,7 +3963,7 @@ static PyObject* pybullet_getDebugVisualizerCamera(PyObject* self, PyObject* arg
 	if (hasCamInfo)
 	{
 		PyObject* item=0;
-		pyCameraList = PyTuple_New(8);
+		pyCameraList = PyTuple_New(12);
 		item = PyInt_FromLong(camera.m_width);
 		PyTuple_SetItem(pyCameraList,0,item);
 		item = PyInt_FromLong(camera.m_height);
@@ -4007,6 +4007,23 @@ static PyObject* pybullet_getDebugVisualizerCamera(PyObject* self, PyObject* arg
 			PyTuple_SetItem(pyCameraList,6,hor);
 			PyTuple_SetItem(pyCameraList,7,vert);
 		}
+		item = PyFloat_FromDouble(camera.m_yaw);
+		PyTuple_SetItem(pyCameraList,8,item);
+		item = PyFloat_FromDouble(camera.m_pitch);
+		PyTuple_SetItem(pyCameraList,9,item);
+		item = PyFloat_FromDouble(camera.m_dist);
+		PyTuple_SetItem(pyCameraList,10,item);
+		{
+			PyObject* item=0;
+			int i;
+			PyObject* camTarget = PyTuple_New(3);
+			for (i=0;i<3;i++)
+			{
+				item = PyFloat_FromDouble(camera.m_target[i]);
+				PyTuple_SetItem(camTarget,i,item);
+			}
+			PyTuple_SetItem(pyCameraList,11,camTarget);
+		}
 		return pyCameraList;
 	}
 

src/Bullet3Common/b3Quaternion.h

@@ -901,6 +901,7 @@ b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming
 	b3Scalar rs = 1.0f / s;
 
 	return b3Quaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f);
+	
 }
 
 B3_FORCE_INLINE b3Quaternion 

src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp

@@ -66,7 +66,7 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold( const btCollision
     {
         // batch updater will update manifold pointers array after finishing, so
         // only need to update array when not batch-updating
-        btAssert( !btThreadsAreRunning() );
+        //btAssert( !btThreadsAreRunning() );
         manifold->m_index1a = m_manifoldsPtr.size();
         m_manifoldsPtr.push_back( manifold );
     }
@@ -77,7 +77,7 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold( const btCollision
 void btCollisionDispatcherMt::releaseManifold( btPersistentManifold* manifold )
 {
     clearManifold( manifold );
-    btAssert( !btThreadsAreRunning() );
+    //btAssert( !btThreadsAreRunning() );
     if ( !m_batchUpdating )
     {
         // batch updater will update manifold pointers array after finishing, so