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add one more pybullet renderImage API and testrender.py example

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tweak Bullet Inverse Dynamics, work-around compiler issue
This commit is contained in:
Erwin Coumans
2016-08-02 11:12:23 -07:00
parent 7d76183e13
commit f304fd7611
5 changed files with 139 additions and 4 deletions
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62
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2,6 +2,8 @@
#include "PhysicsClientSharedMemory.h"
#include "Bullet3Common/b3Scalar.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Matrix3x3.h"
#include <string.h>
#include "SharedMemoryCommands.h"
@@ -823,6 +825,66 @@ void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHa
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, int upAxis)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
b3Vector3 camUpVector;
b3Vector3 camForward;
b3Vector3 camPos;
b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0],cameraTargetPosition[1],cameraTargetPosition[2]);
int forwardAxis(-1);
switch (upAxis)
{
case 1:
forwardAxis = 2;
camUpVector = b3MakeVector3(0,1,0);
//gLightPos = b3MakeVector3(-50.f,100,30);
break;
case 2:
forwardAxis = 1;
camUpVector = b3MakeVector3(0,0,1);
//gLightPos = b3MakeVector3(-50.f,30,100);
break;
default:
{
//b3Assert(0);
return;
}
};
b3Vector3 eyePos = b3MakeVector3(0,0,0);
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 rele = yaw * b3Scalar(0.01745329251994329547);// rads per deg
b3Scalar razi = pitch * b3Scalar(0.01745329251994329547);// rads per deg
b3Quaternion rot(camUpVector,razi);
b3Vector3 right = camUpVector.cross(camForward);
b3Quaternion roll(right,-rele);
eyePos = b3Matrix3x3(rot) * b3Matrix3x3(roll) * eyePos;
camPos = eyePos;
camPos += camTargetPos;
float camPosf[4] = {camPos[0],camPos[1],camPos[2],0};
float camPosTargetf[4] = {camTargetPos[0],camTargetPos[1],camTargetPos[2],0};
float camUpf[4] = {camUpVector[0],camUpVector[1],camUpVector[2],0};
b3RequestCameraImageSetViewMatrix(commandHandle,camPosf,camPosTargetf,camUpf);
}
void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3])
{
b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);