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Implement PyBullet.getCameraImage for PhysX backend.

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PhysX backend, allow arbitrary plane normal, a few other fixes.
This commit is contained in:
erwincoumans
2019-02-24 14:09:42 -08:00
parent 9ecc1cc485
commit a9996088c8
7 changed files with 481 additions and 104 deletions
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58
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
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@@ -1276,6 +1276,8 @@ void EGLRendererVisualShapeConverter::render(const float viewMat[16], const floa
render();
m_data->m_camera.disableVRCamera();
//cout<<viewMat[4*0 + 0]<<" "<<viewMat[4*0+1]<<" "<<viewMat[4*0+2]<<" "<<viewMat[4*0+3] << endl;
//cout<<viewMat[4*1 + 0]<<" "<<viewMat[4*1+1]<<" "<<viewMat[4*1+2]<<" "<<viewMat[4*1+3] << endl;
//cout<<viewMat[4*2 + 0]<<" "<<viewMat[4*2+1]<<" "<<viewMat[4*2+2]<<" "<<viewMat[4*2+3] << endl;
@@ -1679,3 +1681,59 @@ void EGLRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId,
}
}
}
bool EGLRendererVisualShapeConverter::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 (m_data->m_instancingRenderer && m_data->m_instancingRenderer->getActiveCamera())
{
*width = m_data->m_window->getWidth() * m_data->m_window->getRetinaScale();
*height = m_data->m_window->getHeight() * m_data->m_window->getRetinaScale();
m_data->m_instancingRenderer->getActiveCamera()->getCameraViewMatrix(viewMatrix);
m_data->m_instancingRenderer->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
m_data->m_instancingRenderer->getActiveCamera()->getCameraUpVector(camUp);
m_data->m_instancingRenderer->getActiveCamera()->getCameraForwardVector(camForward);
float top = 1.f;
float bottom = -1.f;
float tanFov = (top - bottom) * 0.5f / 1;
float fov = btScalar(2.0) * btAtan(tanFov);
btVector3 camPos, camTarget;
m_data->m_instancingRenderer->getActiveCamera()->getCameraPosition(camPos);
m_data->m_instancingRenderer->getActiveCamera()->getCameraTargetPosition(camTarget);
btVector3 rayFrom = camPos;
btVector3 rayForward = (camTarget - camPos);
rayForward.normalize();
float farPlane = 10000.f;
rayForward *= farPlane;
btVector3 rightOffset;
btVector3 cameraUp = btVector3(camUp[0], camUp[1], camUp[2]);
btVector3 vertical = cameraUp;
btVector3 hori;
hori = rayForward.cross(vertical);
hori.normalize();
vertical = hori.cross(rayForward);
vertical.normalize();
float tanfov = tanf(0.5f * fov);
hori *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
btScalar aspect = float(*width) / float(*height);
hori *= aspect;
//compute 'hor' and 'vert' vectors, useful to generate raytracer rays
hor[0] = hori[0] * m_data->m_window->getRetinaScale();
hor[1] = hori[1] * m_data->m_window->getRetinaScale();
hor[2] = hori[2] * m_data->m_window->getRetinaScale();
vert[0] = vertical[0] * m_data->m_window->getRetinaScale();
vert[1] = vertical[1] * m_data->m_window->getRetinaScale();
vert[2] = vertical[2] * m_data->m_window->getRetinaScale();
*yaw = m_data->m_instancingRenderer->getActiveCamera()->getCameraYaw();
*pitch = m_data->m_instancingRenderer->getActiveCamera()->getCameraPitch();
*camDist = m_data->m_instancingRenderer->getActiveCamera()->getCameraDistance();
cameraTarget[0] = camTarget[0];
cameraTarget[1] = camTarget[1];
cameraTarget[2] = camTarget[2];
return true;
}
return false;
}

3
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
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@@ -59,6 +59,9 @@ struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
virtual void mouseMoveCallback(float x, float y);
virtual void mouseButtonCallback(int button, int state, float x, float y);
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 cameraTarget[3]) const;
};
#endif //EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H