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Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.

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This commit is contained in:
yunfeibai
2017-06-01 15:30:37 -07:00
parent 4388a6ea02
commit e6d1a8cf97
74 changed files with 347 additions and 281 deletions
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184
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1930,6 +1930,86 @@ void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, in
command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SHADOW;
}
void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float* cameraDistance, float* cameraYaw, float* cameraPitch)
{
b3Vector3 camPos = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
b3Vector3 camUpVector = b3MakeVector3(cameraUp[0], cameraUp[1], cameraUp[2]);
camUpVector.normalize();
*cameraDistance = (camPos - camTargetPos).length();
b3Vector3 eyePos = camPos - camTargetPos;
b3Vector3 eyeInitPos = b3MakeVector3(0, 0, 0);
int forwardAxis = -1;
switch (upAxis)
{
case 1:
forwardAxis = 2;
break;
case 2:
forwardAxis = 1;
break;
default:
return;
};
eyeInitPos[forwardAxis] = -(*cameraDistance);
eyeInitPos.normalize();
eyePos.normalize();
b3Quaternion rot = b3ShortestArcQuat(eyeInitPos, eyePos);
btScalar yawRad;
btScalar pitchRad;
btScalar rollRad;
switch (upAxis)
{
case 1:
rot.getEulerZYX(rollRad, yawRad, pitchRad);
pitchRad = -pitchRad;
break;
case 2:
rot.getEulerZYX(yawRad, rollRad, pitchRad);
break;
default:
return;
};
*cameraYaw = yawRad/b3Scalar(0.01745329251994329547);
*cameraPitch = pitchRad/b3Scalar(0.01745329251994329547);
float cameraRoll = rollRad/b3Scalar(0.01745329251994329547);
printf("camera roll: %f\n", cameraRoll);
}
void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3])
{
b3Matrix3x3 r(viewMatrix[0], viewMatrix[4], viewMatrix[8], viewMatrix[1], viewMatrix[5], viewMatrix[9], viewMatrix[2], viewMatrix[6], viewMatrix[10]);
b3Vector3 p = b3MakeVector3(viewMatrix[12], viewMatrix[13], viewMatrix[14]);
b3Transform t(r,p);
b3Transform tinv = t.inverse();
b3Matrix3x3 basis = tinv.getBasis();
b3Vector3 origin = tinv.getOrigin();
printf("basis: %f, %f, %f, %f, %f, %f, %f, %f, %f\n", basis[0][0], basis[0][1], basis[0][2], basis[1][0], basis[1][1], basis[1][2], basis[2][0], basis[2][1], basis[2][2]);
printf("origin: %f, %f, %f\n", origin[0], origin[1], origin[2]);
b3Vector3 s = b3MakeVector3(basis[0][0], basis[1][0], basis[2][0]);
b3Vector3 u = b3MakeVector3(basis[0][1], basis[1][1], basis[2][1]);
b3Vector3 f = b3MakeVector3(-basis[0][2], -basis[1][2], -basis[2][2]);
b3Vector3 eye = origin;
cameraPosition[0] = eye[0];
cameraPosition[1] = eye[1];
cameraPosition[2] = eye[2];
b3Vector3 center = f + eye;
cameraTargetPosition[0] = center[0];
cameraTargetPosition[1] = center[1];
cameraTargetPosition[2] = center[2];
cameraUp[0] = u[0];
cameraUp[1] = u[1];
cameraUp[2] = u[2];
}
void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16])
{
b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
@@ -1970,77 +2050,43 @@ void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], fl
b3Vector3 camPos;
b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
b3Vector3 eyePos = b3MakeVector3(0, 0, 0);
int forwardAxis(-1);
{
switch (upAxis)
{
case 1:
{
forwardAxis = 0;
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0], eyePos[1], eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f, 0.f, 0.f);
}
else
{
camForward.normalize();
}
b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
b3Quaternion rollRot(camForward, rollRad);
camUpVector = b3QuatRotate(rollRot, b3MakeVector3(0, 1, 0));
//gLightPos = b3MakeVector3(-50.f,100,30);
break;
}
case 2:
{
forwardAxis = 1;
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0], eyePos[1], eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f, 0.f, 0.f);
}
else
{
camForward.normalize();
}
b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
b3Quaternion rollRot(camForward, rollRad);
camUpVector = b3QuatRotate(rollRot, b3MakeVector3(0, 0, 1));
//gLightPos = b3MakeVector3(-50.f,30,100);
break;
}
default:
{
//b3Assert(0);
return;
}
};
}
b3Scalar yawRad = yaw * b3Scalar(0.01745329251994329547);// rads per deg
b3Scalar pitchRad = pitch * b3Scalar(0.01745329251994329547);// rads per deg
b3Quaternion pitchRot(camUpVector, pitchRad);
b3Vector3 right = camUpVector.cross(camForward);
b3Quaternion yawRot(right, -yawRad);
eyePos = b3Matrix3x3(pitchRot) * b3Matrix3x3(yawRot) * eyePos;
b3Scalar rollRad = 0.0;
b3Quaternion eyeRot;
int forwardAxis(-1);
switch (upAxis)
{
case 1:
forwardAxis = 2;
camUpVector = b3MakeVector3(0,1,0);
eyeRot.setEulerZYX(rollRad, yawRad, -pitchRad);
break;
case 2:
forwardAxis = 1;
camUpVector = b3MakeVector3(0,0,1);
eyeRot.setEulerZYX(yawRad, rollRad, pitchRad);
break;
default:
return;
};
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f,0.f,0.f);
} else
{
camForward.normalize();
}
eyePos = b3Matrix3x3(eyeRot)*eyePos;
camUpVector = b3Matrix3x3(eyeRot)*camUpVector;
camPos = eyePos;
camPos += camTargetPos;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -161,6 +161,8 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices
void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]);
void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[16]);
void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3]);
void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float* cameraDistance, float* cameraYaw, float* cameraPitch);
///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices
void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[16]);

30
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -93,10 +93,10 @@ protected:
virtual void resetCamera()
{
float dist = 3.45;
float pitch = 287;
float yaw = 16.2;
float pitch = -16.2;
float yaw = 287;
float targetPos[3]={2.05,0.02,0.53};//-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
}
@@ -273,6 +273,30 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
float cameraPos[3] = {1.0, 1.0, 1.0};
float cameraTarget[3] = {2.0, 1.0, 1.0};
float cameraUp[3] = {0.0, 0.0, 1.0};
float viewMat[16];
b3ComputeViewMatrixFromPositions(cameraPos, cameraTarget, cameraUp, viewMat);
printf("viewMat: %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n", viewMat[0], viewMat[1], viewMat[2], viewMat[3], viewMat[4], viewMat[5], viewMat[6], viewMat[7], viewMat[8], viewMat[9], viewMat[10], viewMat[11], viewMat[12], viewMat[13], viewMat[14], viewMat[15]);
float cameraPos2[3];
float cameraTarget2[3];
float cameraUp2[3];
b3ComputePositionFromViewMatrix(viewMat, cameraPos2, cameraTarget2, cameraUp2);
printf("cameraPos2: %f, %f, %f\n", cameraPos2[0], cameraPos2[1], cameraPos2[2]);
printf("cameraTarget2: %f, %f, %f\n", cameraTarget2[0], cameraTarget2[1], cameraTarget2[2]);
printf("cameraUp2: %f, %f, %f\n", cameraUp2[0], cameraUp2[1], cameraUp2[2]);
float cameraDistance;
float cameraYaw;
float cameraPitch;
b3ComputeYawPitchRollFromPosition(cameraPos2, cameraTarget2, cameraUp2, 2, &cameraDistance, &cameraYaw, &cameraPitch);
printf("camera distance: %f\n", cameraDistance);
printf("camera yaw: %f\n", cameraYaw);
printf("camera pitch: %f\n", cameraPitch);
b3ComputeViewMatrixFromYawPitchRoll(cameraTarget2, 1.0, -90.0, 0.0, 0.0, 2, viewMat);
//b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
float viewMatrix[16];

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4517,8 +4517,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (clientCmd.m_updateFlags&COV_SET_CAMERA_VIEW_MATRIX)
{
m_data->m_guiHelper->resetCamera( clientCmd.m_configureOpenGLVisualizerArguments.m_cameraDistance,
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraPitch,
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraYaw,
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraPitch,
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[0],
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[1],
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[2]);

10
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -1016,9 +1016,9 @@ public:
{
m_childGuiHelper->setUpAxis(axis);
}
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
{
m_childGuiHelper->resetCamera(camDist,pitch,yaw,camPosX,camPosY,camPosZ);
m_childGuiHelper->resetCamera(camDist,yaw,pitch,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
@@ -1269,10 +1269,10 @@ public:
virtual void resetCamera()
{
float dist = 5;
float pitch = 50;
float yaw = 35;
float pitch = -35;
float yaw = 50;
float targetPos[3]={0,0,0};//-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
}
virtual bool wantsTermination();

8
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -115,11 +115,11 @@ TinyRendererVisualShapeConverter::TinyRendererVisualShapeConverter()
m_data = new TinyRendererVisualShapeConverterInternalData();
float dist = 1.5;
float pitch = -80;
float yaw = 10;
float pitch = -10;
float yaw = -80;
float targetPos[3]={0,0,0};
m_data->m_camera.setCameraUpAxis(m_data->m_upAxis);
resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
}
@@ -678,7 +678,7 @@ void TinyRendererVisualShapeConverter::setUpAxis(int axis)
m_data->m_camera.setCameraUpAxis(axis);
m_data->m_camera.update();
}
void TinyRendererVisualShapeConverter::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
void TinyRendererVisualShapeConverter::resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
{
m_data->m_camera.setCameraDistance(camDist);
m_data->m_camera.setCameraPitch(pitch);

2
examples/SharedMemory/TinyRendererVisualShapeConverter.h
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@@ -26,7 +26,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
void setUpAxis(int axis);
void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
void clearBuffers(struct TGAColor& clearColor);