32eccdff61
URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision"> VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering, Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h Add a dummy return to stop a warning Expose defaultContactERP in shared memory api/pybullet. First start to expose IK in shared memory api/pybullet (not working yet)
42 lines
1.4 KiB
C
42 lines
1.4 KiB
C
#ifndef COMMON_CAMERA_INTERFACE_H
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#define COMMON_CAMERA_INTERFACE_H
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struct CommonCameraInterface
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{
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virtual void getCameraProjectionMatrix(float m[16])const = 0;
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virtual void getCameraViewMatrix(float m[16]) const = 0;
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virtual void setVRCamera(const float viewMat[16], const float projectionMatrix[16])=0;
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virtual void disableVRCamera()=0;
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virtual bool isVRCamera() const =0;
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virtual void setVRCameraOffsetTransform(const float offset[16])=0;
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virtual void getCameraTargetPosition(float pos[3]) const = 0;
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virtual void getCameraPosition(float pos[3]) const = 0;
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virtual void getCameraTargetPosition(double pos[3]) const = 0;
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virtual void getCameraPosition(double pos[3]) const = 0;
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virtual void setCameraTargetPosition(float x,float y,float z) = 0;
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virtual void setCameraDistance(float dist) = 0;
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virtual float getCameraDistance() const = 0;
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virtual void setCameraUpVector(float x,float y, float z) = 0;
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virtual void getCameraUpVector(float up[3]) const = 0;
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///the setCameraUpAxis will call the 'setCameraUpVector' and 'setCameraForwardVector'
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virtual void setCameraUpAxis(int axis) = 0;
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virtual int getCameraUpAxis() const = 0;
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virtual void setCameraYaw(float yaw) = 0;
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virtual float getCameraYaw() const = 0;
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virtual void setCameraPitch(float pitch) = 0;
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virtual float getCameraPitch() const = 0;
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virtual void setAspectRatio(float ratio) = 0;
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virtual float getAspectRatio() const = 0;
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};
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#endif //COMMON_CAMERA_INTERFACE_H
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