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Add utility function to convert view matrix to camera yaw pitch roll.

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This commit is contained in:
yunfeibai
2017-06-01 21:44:02 -07:00
parent e6d1a8cf97
commit e97bb9d494
3 changed files with 31 additions and 34 deletions
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22
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1930,14 +1930,14 @@ 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)
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();
cameraDistance = (camPos - camTargetPos).length();
b3Vector3 eyePos = camPos - camTargetPos;
b3Vector3 eyeInitPos = b3MakeVector3(0, 0, 0);
@@ -1956,7 +1956,7 @@ void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const floa
return;
};
eyeInitPos[forwardAxis] = -(*cameraDistance);
eyeInitPos[forwardAxis] = -cameraDistance;
eyeInitPos.normalize();
eyePos.normalize();
@@ -1978,10 +1978,8 @@ void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const floa
return;
};
*cameraYaw = yawRad/b3Scalar(0.01745329251994329547);
*cameraPitch = pitchRad/b3Scalar(0.01745329251994329547);
float cameraRoll = rollRad/b3Scalar(0.01745329251994329547);
printf("camera roll: %f\n", cameraRoll);
cameraYaw = yawRad/b3Scalar(0.01745329251994329547);
cameraPitch = pitchRad/b3Scalar(0.01745329251994329547);
}
void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3])
@@ -1992,8 +1990,6 @@ void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPos
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]);
@@ -2010,6 +2006,14 @@ void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPos
cameraUp[2] = u[2];
}
void b3ComputeYawPitchRollFromViewMatrix(const float viewMatrix[16], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch, float cameraTargetPosition[3])
{
float cameraPosition[3];
float cameraUp[3];
b3ComputePositionFromViewMatrix(viewMatrix, cameraPosition, cameraTargetPosition, cameraUp);
b3ComputeYawPitchRollFromPosition(cameraPosition, cameraTargetPosition, cameraUp, upAxis, cameraDistance, cameraYaw, cameraPitch);
}
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]);

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -162,7 +162,8 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
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);
void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch);
void b3ComputeYawPitchRollFromViewMatrix(const float viewMatrix[16], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch, float cameraTargetPosition[3]);
///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]);

40
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -273,33 +273,25 @@ 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];
float cameraTargetPosition[3] = {1.0, 2.0, 3.0};
float distance = 1.0;
float yaw = 10.0;
float pitch = 70.0;
float roll = 0.0;
int upAxis = 2;
float cameraDistance;
float cameraYaw;
float cameraPitch;
float cameraTargetPositionNew[3];
b3ComputeViewMatrixFromYawPitchRoll(cameraTargetPosition, distance, yaw, pitch, roll, upAxis, viewMatrix);
b3ComputeYawPitchRollFromViewMatrix(viewMatrix, upAxis, cameraDistance, cameraYaw, cameraPitch, cameraTargetPositionNew);
b3ComputeViewMatrixFromYawPitchRoll(cameraTargetPositionNew, cameraDistance, cameraYaw, cameraPitch, 0.0, upAxis, viewMatrix);
float projectionMatrix[16];
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);