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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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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)
{