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

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -2843,6 +2843,33 @@ void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle comman
     }
 }
 
+b3SharedMemoryCommandHandle b3InitRequestOpenGLVisualizerCameraCommand(b3PhysicsClientHandle physClient)
+{
+    PhysicsClient* cl = (PhysicsClient*)physClient;
+    b3Assert(cl);
+    b3Assert(cl->canSubmitCommand());
+    struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+    b3Assert(command);
+    
+    command->m_type = CMD_REQUEST_OPENGL_VISUALIZER_CAMERA;
+    command->m_updateFlags = 0;
+    
+    return (b3SharedMemoryCommandHandle)command;
+
+}
+
+int b3GetStatusOpenGLVisualizerCamera(b3SharedMemoryStatusHandle statusHandle, b3OpenGLVisualizerCameraInfo* camera)
+{
+	const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
+    //b3Assert(status);
+    if (status && status->m_type == CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED)
+    {
+		*camera = status->m_visualizerCameraResultArgs;
+		return 1;
+	}
+	return 0;
+}
+
 void b3SetTimeOut(b3PhysicsClientHandle physClient, double timeOutInSeconds)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;

examples/SharedMemory/PhysicsClientC_API.h

@@ -104,6 +104,9 @@ b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandl
 void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled);
 void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[3]);
 
+b3SharedMemoryCommandHandle b3InitRequestOpenGLVisualizerCameraCommand(b3PhysicsClientHandle physClient);
+int b3GetStatusOpenGLVisualizerCamera(b3SharedMemoryStatusHandle statusHandle, struct b3OpenGLVisualizerCameraInfo* camera);
+
     
 /// Add/remove user-specific debug lines and debug text messages
 b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[3], double toXYZ[3], double colorRGB[3], double lineWidth, double lifeTime);

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -990,6 +990,16 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 				b3Warning("State Logging failed");
 				break;
 			}
+			case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED:
+			{
+				b3Warning("Request visualizer camera failed");
+				break;
+			}
+			case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED:
+			{
+				break;
+			}
+
             default: {
                 b3Error("Unknown server status %d\n", serverCmd.m_type);
                 btAssert(0);

examples/SharedMemory/PhysicsDirect.cpp

@@ -834,6 +834,16 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 		break;
 	}
 	
+	case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED:
+	{
+		break;
+	}
+
+	case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED:
+	{
+		b3Warning("requestOpenGLVisualizeCamera failed");
+		break;
+	}
 	case CMD_REMOVE_USER_CONSTRAINT_FAILED:
 	{
 		b3Warning("removeConstraint failed");

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -4186,6 +4186,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					break;
 				}
                     
+				case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA:
+				{
+					BT_PROFILE("CMD_REQUEST_OPENGL_VISUALIZER_CAMERA");
+                    SharedMemoryStatus& serverCmd = serverStatusOut;
+					bool result = this->m_data->m_guiHelper->getCameraInfo(
+						&serverCmd.m_visualizerCameraResultArgs.m_width,
+						&serverCmd.m_visualizerCameraResultArgs.m_height,
+						serverCmd.m_visualizerCameraResultArgs.m_viewMatrix,
+						serverCmd.m_visualizerCameraResultArgs.m_projectionMatrix,
+						serverCmd.m_visualizerCameraResultArgs.m_camUp,
+						serverCmd.m_visualizerCameraResultArgs.m_camForward,
+						serverCmd.m_visualizerCameraResultArgs.m_horizontal,
+						serverCmd.m_visualizerCameraResultArgs.m_vertical);
+                    serverCmd.m_type = result ? CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED: CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED;
+					hasStatus = true;
+					break;
+				}
+
                 case CMD_CONFIGURE_OPENGL_VISUALIZER:
                 {
 					BT_PROFILE("CMD_CONFIGURE_OPENGL_VISUALIZER");

examples/SharedMemory/PhysicsServerExample.cpp

@@ -808,6 +808,12 @@ public:
 	    m_childGuiHelper->resetCamera(camDist,pitch,yaw,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
+	{
+		return m_childGuiHelper->getCameraInfo(width,height,viewMatrix,projectionMatrix,camUp,camForward,hor,vert);
+	}
+
+
 	float m_viewMatrix[16];
     float m_projectionMatrix[16];
     unsigned char* m_pixelsRGBA;

examples/SharedMemory/SharedMemoryCommands.h

@@ -790,7 +790,7 @@ struct SharedMemoryStatus
 		struct SendKeyboardEvents m_sendKeyboardEvents;
 		struct SendRaycastHits m_raycastHits;
 		struct StateLoggingResultArgs m_stateLoggingResultArgs;
-
+		struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
 	};
 };
 

examples/SharedMemory/SharedMemoryPublic.h

@@ -54,6 +54,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_STATE_LOGGING,
     CMD_CONFIGURE_OPENGL_VISUALIZER,
 	CMD_REQUEST_KEYBOARD_EVENTS_DATA,
+	CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
     
@@ -133,6 +134,8 @@ enum EnumSharedMemoryServerStatus
 		CMD_STATE_LOGGING_FAILED,
 		CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED,
 		CMD_REQUEST_KEYBOARD_EVENTS_DATA_FAILED,
+		CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED,
+		CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED,
         //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
         CMD_MAX_SERVER_COMMANDS
 };
@@ -248,6 +251,19 @@ struct b3CameraImageData
 	const int* m_segmentationMaskValues;//m_pixelWidth*m_pixelHeight ints
 };
 
+struct b3OpenGLVisualizerCameraInfo
+{
+    int m_width;
+    int m_height;
+	float m_viewMatrix[16];
+	float m_projectionMatrix[16];
+	
+	float m_camUp[3];
+	float m_camForward[3];
+
+	float m_horizontal[3];
+	float m_vertical[3];
+};
 
 enum b3VREventType
 {