fix uninitialized camera position in 'VR' / 'camera rendering' mode (causing broken specular reflections in VR)

use debug visualizer camera viewmatrix/projection matrix if not provided, in ER_BULLET_HARDWARE_OPENGL mode.
fix broken changeRGBAColor implementation, thanks to Laura for the report!

examples/OpenGLWindow/SimpleCamera.cpp

@@ -64,6 +64,20 @@ SimpleCamera::~SimpleCamera()
 void	SimpleCamera::setVRCamera(const float viewMat[16], const float projectionMatrix[16])
 {
 	m_data->m_enableVR = true;
+
+	b3Matrix3x3 vm;
+	vm.setValue(viewMat[0],viewMat[4],viewMat[8],
+		viewMat[1],viewMat[5],viewMat[9],
+		viewMat[2],viewMat[6],viewMat[10]);
+	
+	b3Vector3 vp = b3MakeVector3(viewMat[12],viewMat[13],viewMat[14]);
+	b3Transform tr;
+	tr.setBasis(vm);
+	tr.setOrigin(vp);
+	b3Transform cp = tr.inverse();
+	m_data->m_cameraPosition = cp.getOrigin();
+
+	
 	for (int i=0;i<16;i++)
 	{
 		m_data->m_viewMatrixVR[i] = viewMat[i];

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -3509,17 +3509,50 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                         int* segmentationMaskBuffer = (int*)(bufferServerToClient+numRequestedPixels*8);
 
 						serverStatusOut.m_numDataStreamBytes = numRequestedPixels * totalBytesPerPixel;
+						float viewMat[16];
+						float projMat[16];
+						for (int i=0;i<16;i++)
+						{
+							viewMat[i] = clientCmd.m_requestPixelDataArguments.m_viewMatrix[i];
+							projMat[i] = clientCmd.m_requestPixelDataArguments.m_projectionMatrix[i];
+						}
+						if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)==0)
+                        {
+							b3OpenGLVisualizerCameraInfo tmpCamResult;
+							bool result = this->m_data->m_guiHelper->getCameraInfo(
+								&tmpCamResult.m_width,
+								&tmpCamResult.m_height,
+								tmpCamResult.m_viewMatrix,
+								tmpCamResult.m_projectionMatrix,
+								tmpCamResult.m_camUp,
+								tmpCamResult.m_camForward,
+								tmpCamResult.m_horizontal,
+								tmpCamResult.m_vertical,
+								&tmpCamResult.m_yaw,
+								&tmpCamResult.m_pitch,
+								&tmpCamResult.m_dist,
+								tmpCamResult.m_target);
+							if (result)
+							{
+								for (int i=0;i<16;i++)
+								{
+									viewMat[i] = tmpCamResult.m_viewMatrix[i];
+									projMat[i] = tmpCamResult.m_projectionMatrix[i];
+								}
+							}
+						 }
 
                         if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
 						{
-							m_data->m_guiHelper->copyCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,
+
-                                                clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels,
+							m_data->m_guiHelper->copyCameraImageData(viewMat,
+                                                projMat,pixelRGBA,numRequestedPixels,
                                                 depthBuffer,numRequestedPixels,
                                                 segmentationMaskBuffer, numRequestedPixels,
                                                 startPixelIndex,width,height,&numPixelsCopied);
 
-							m_data->m_guiHelper->debugDisplayCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,
+							m_data->m_guiHelper->debugDisplayCameraImageData(viewMat,
-                                                clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels,
+                                                projMat,pixelRGBA,numRequestedPixels,
                                                 depthBuffer,numRequestedPixels,
                                                 0, numRequestedPixels,
                                                 startPixelIndex,width,height,&numPixelsCopied);

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -46,6 +46,8 @@ struct MyTexture2
 struct TinyRendererObjectArray
 {
   btAlignedObjectArray<  TinyRenderObjectData*> m_renderObjects;
+  int m_objectUniqueId;
+  int m_linkIndex;
 };
 
 #define START_WIDTH 640
@@ -596,8 +598,11 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
                 m_data->m_swRenderInstances.insert(colObj,new TinyRendererObjectArray);
             }
             visualsPtr = m_data->m_swRenderInstances[colObj];
+			
             btAssert(visualsPtr);
             TinyRendererObjectArray* visuals = *visualsPtr;
+			visuals->m_objectUniqueId = bodyUniqueId;
+			visuals->m_linkIndex = linkIndex;
             
 			b3VisualShapeData visualShape;
 			visualShape.m_objectUniqueId = bodyUniqueId;
@@ -699,6 +704,8 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
 	return 0;
 }
 
+
+
 void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])
 {
     int start = -1;
@@ -706,33 +713,32 @@ void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int lin
     {
         if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId && m_data->m_visualShapes[i].m_linkIndex == linkIndex)
         {
-			start = i;
 			m_data->m_visualShapes[i].m_rgbaColor[0] = rgbaColor[0];
 			m_data->m_visualShapes[i].m_rgbaColor[1] = rgbaColor[1];
 			m_data->m_visualShapes[i].m_rgbaColor[2] = rgbaColor[2];
 			m_data->m_visualShapes[i].m_rgbaColor[3] = rgbaColor[3];
-			break;
 		}
     }
-	if (start>=0)
-	{
-		TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(start);
-		if (visualArrayPtr && *visualArrayPtr)
-		{
-			TinyRendererObjectArray* visualArray = *visualArrayPtr;
-	
-			btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(start);
-			const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
     
+	for (int i=0;i<m_data->m_swRenderInstances.size();i++)
+	{
+		TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i);
+		if (ptrptr && *ptrptr)
+		{
 			float rgba[4] = {rgbaColor[0], rgbaColor[1], rgbaColor[2], rgbaColor[3]};
-			for (int v=0;v<visualArray->m_renderObjects.size();v++)
+			TinyRendererObjectArray* visuals = *ptrptr;
+			if ((bodyUniqueId == visuals->m_objectUniqueId) && (linkIndex == visuals->m_linkIndex))
 			{
-				visualArray->m_renderObjects[v]->m_model->setColorRGBA(rgba);
+				for (int q=0;q<visuals->m_renderObjects.size();q++)
+				{
+					visuals->m_renderObjects[q]->m_model->setColorRGBA(rgba);
+				}
 			}
 		}
 	}
 }
 
+
 void TinyRendererVisualShapeConverter::setUpAxis(int axis)
 {
     m_data->m_upAxis = axis;