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implement pybullet.getDebugVisualizerCamera, width, height, providing viewmatrix, projection matrix

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This commit is contained in:
Erwin Coumans
2017-04-10 11:03:41 -07:00
parent 82b6bc8770
commit bdf366b045
16 changed files with 284 additions and 9 deletions
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56
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -190,6 +190,11 @@ struct CommonRenderInterface* OpenGLGuiHelper::getRenderInterface()
return m_data->m_glApp->m_renderer;
}
const struct CommonRenderInterface* OpenGLGuiHelper::getRenderInterface() const
{
return m_data->m_glApp->m_renderer;
}
void OpenGLGuiHelper::createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
{
createCollisionObjectGraphicsObject(body,color);
@@ -386,6 +391,57 @@ 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
{
if (getRenderInterface() && getRenderInterface()->getActiveCamera())
{
*width = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
*height = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
getRenderInterface()->getActiveCamera()->getCameraUpVector(camUp);
getRenderInterface()->getActiveCamera()->getCameraForwardVector(camForward);
float frustumNearPlane = getRenderInterface()->getActiveCamera()->getCameraFrustumNear();
float frustumFarPlane = getRenderInterface()->getActiveCamera()->getCameraFrustumFar();
float top = 1.f;
float bottom = -1.f;
float tanFov = (top-bottom)*0.5f / frustumNearPlane;
float fov = btScalar(2.0) * btAtan(tanFov);
btVector3 camPos,camTarget;
getRenderInterface()->getActiveCamera()->getCameraPosition(camPos);
getRenderInterface()->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 = *width / *height;
hori*=aspect;
//compute 'hor' and 'vert' vectors, useful to generate raytracer rays
hor[0] = hori[0];
hor[1] = hori[1];
hor[2] = hori[2];
vert[0] = vertical[0];
vert[1] = vertical[1];
vert[2] = vertical[2];
return true;
}
return false;
}
void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,

4
examples/ExampleBrowser/OpenGLGuiHelper.h
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@@ -15,6 +15,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual ~OpenGLGuiHelper();
virtual struct CommonRenderInterface* getRenderInterface();
virtual const struct CommonRenderInterface* getRenderInterface() const;
virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color);
@@ -44,7 +45,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void resetCamera(float camDist, float pitch, float yaw, 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 void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels,