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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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81
examples/pybullet/pybullet.c
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@@ -3246,6 +3246,84 @@ static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject*
return Py_None;
}
static PyObject* pybullet_getDebugVisualizerCamera(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"physicsClientId", NULL};
b3SharedMemoryCommandHandle commandHandle;
int hasCamInfo;
b3SharedMemoryStatusHandle statusHandle;
struct b3OpenGLVisualizerCameraInfo camera;
PyObject* pyCameraList =0;
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
commandHandle = b3InitRequestOpenGLVisualizerCameraCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
hasCamInfo = b3GetStatusOpenGLVisualizerCamera(statusHandle, &camera);
if (hasCamInfo)
{
PyObject* item=0;
pyCameraList = PyTuple_New(8);
item = PyInt_FromLong(camera.m_width);
PyTuple_SetItem(pyCameraList,0,item);
item = PyInt_FromLong(camera.m_height);
PyTuple_SetItem(pyCameraList,1,item);
{
PyObject* viewMat16 = PyTuple_New(16);
PyObject* projMat16 = PyTuple_New(16);
int i;
for (i=0;i<16;i++)
{
item = PyFloat_FromDouble(camera.m_viewMatrix[i]);
PyTuple_SetItem(viewMat16,i,item);
item = PyFloat_FromDouble(camera.m_projectionMatrix[i]);
PyTuple_SetItem(projMat16,i,item);
}
PyTuple_SetItem(pyCameraList,2,viewMat16);
PyTuple_SetItem(pyCameraList,3,projMat16);
}
{
PyObject* item=0;
int i;
PyObject* camUp = PyTuple_New(3);
PyObject* camFwd = PyTuple_New(3);
PyObject* hor = PyTuple_New(3);
PyObject* vert= PyTuple_New(3);
for (i=0;i<3;i++)
{
item = PyFloat_FromDouble(camera.m_camUp[i]);
PyTuple_SetItem(camUp,i,item);
item = PyFloat_FromDouble(camera.m_camForward[i]);
PyTuple_SetItem(camFwd,i,item);
item = PyFloat_FromDouble(camera.m_horizontal[i]);
PyTuple_SetItem(hor,i,item);
item = PyFloat_FromDouble(camera.m_vertical[i]);
PyTuple_SetItem(vert,i,item);
}
PyTuple_SetItem(pyCameraList,4,camUp);
PyTuple_SetItem(pyCameraList,5,camFwd);
PyTuple_SetItem(pyCameraList,6,hor);
PyTuple_SetItem(pyCameraList,7,vert);
}
return pyCameraList;
}
PyErr_SetString(SpamError, "Cannot get OpenGL visualizer camera info.");
return NULL;
}
static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* args, PyObject* keywds)
{
int flag = 1;
@@ -5427,6 +5505,9 @@ static PyMethodDef SpamMethods[] = {
"Override the wireframe debug drawing color for a particular object unique id / link index."
"If you ommit the color, the custom color will be removed."},
{"getDebugVisualizerCamera", (PyCFunction)pybullet_getDebugVisualizerCamera, METH_VARARGS | METH_KEYWORDS,
"Get information about the 3D visualizer camera, such as width, height, view matrix, projection matrix etc."},
{"configureDebugVisualizer", (PyCFunction)pybullet_configureDebugVisualizer, METH_VARARGS | METH_KEYWORDS,
"For the 3D OpenGL Visualizer, enable/disable GUI, shadows."},