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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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8
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -1551,9 +1551,11 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
b3CreateOrtho(-shadowMapWorldSize,shadowMapWorldSize,-shadowMapWorldSize,shadowMapWorldSize,1,300,depthProjectionMatrix);//-14,14,-14,14,1,200, depthProjectionMatrix);
float depthViewMatrix[4][4];
b3Vector3 center = b3MakeVector3(0,0,0);
float upf[3];
m_data->m_activeCamera->getCameraUpVector(upf);
b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]);
//float upf[3];
//m_data->m_activeCamera->getCameraUpVector(upf);
b3Vector3 up, fwd;
b3PlaneSpace1(gLightPos,up,fwd);
// b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]);
b3CreateLookAt(gLightPos,center,up,&depthViewMatrix[0][0]);
//b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2);

34
examples/OpenGLWindow/SimpleCamera.cpp
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@@ -68,6 +68,8 @@ void SimpleCamera::setVRCamera(const float viewMat[16], const float projectionMa
{
m_data->m_viewMatrixVR[i] = viewMat[i];
m_data->m_projectionMatrixVR[i] = projectionMatrix[i];
m_data->m_frustumZNear = m_data->m_projectionMatrixVR[14]/(m_data->m_projectionMatrixVR[10]-1);
m_data->m_frustumZFar = m_data->m_projectionMatrixVR[14]/(m_data->m_projectionMatrixVR[10]+1);
}
}
@@ -346,11 +348,37 @@ void SimpleCamera::setCameraUpVector(float x,float y ,float z)
void SimpleCamera::getCameraUpVector(float up[3]) const
{
up[0] = float(m_data->m_cameraUp[0]);
up[1] = float(m_data->m_cameraUp[1]);
up[2] = float(m_data->m_cameraUp[2]);
if (m_data->m_enableVR)
{
float viewMatTotal[16];
getCameraViewMatrix(viewMatTotal);
up[0] = viewMatTotal[0];
up[1] = viewMatTotal[4];
up[2] = viewMatTotal[8];
} else
{
up[0] = float(m_data->m_cameraUp[0]);
up[1] = float(m_data->m_cameraUp[1]);
up[2] = float(m_data->m_cameraUp[2]);
}
}
void SimpleCamera::getCameraForwardVector(float fwd[3]) const
{
if (m_data->m_enableVR)
{
float viewMatTotal[16];
getCameraViewMatrix(viewMatTotal);
fwd[0] = viewMatTotal[2];
fwd[1] = viewMatTotal[6];
fwd[2] = viewMatTotal[10];
} else
{
fwd[0] = float(m_data->m_cameraForward[0]);
fwd[1] = float(m_data->m_cameraForward[1]);
fwd[2] = float(m_data->m_cameraForward[2]);
}
}
void SimpleCamera::setCameraYaw(float yaw)
{

4
examples/OpenGLWindow/SimpleCamera.h
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@@ -35,6 +35,10 @@ struct SimpleCamera : public CommonCameraInterface
virtual void setCameraUpVector(float x,float y, float z);
void getCameraUpVector(float up[3]) const;
void getCameraForwardVector(float fwd[3]) const;
///the setCameraUpAxis will call the 'setCameraUpVector' and 'setCameraForwardVector'
virtual void setCameraUpAxis(int axis);
virtual int getCameraUpAxis() const;