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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans 2017-09-13 12:07:59 -07:00
commit 97a62b33c0
3 changed files with 78 additions and 22 deletions
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14
examples/OpenGLWindow/SimpleCamera.cpp
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@ -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];

41
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -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,
clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels,
m_data->m_guiHelper->debugDisplayCameraImageData(viewMat,
projMat,pixelRGBA,numRequestedPixels,
depthBuffer,numRequestedPixels,
0, numRequestedPixels,
startPixelIndex,width,height,&numPixelsCopied);

45
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@ -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;
@ -699,37 +704,41 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
return 0;
}
void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])
{
int start = -1;
for (int i = 0; i < m_data->m_visualShapes.size(); i++)
{
if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId && m_data->m_visualShapes[i].m_linkIndex == linkIndex)
{
start = i;
int start = -1;
for (int i = 0; i < m_data->m_visualShapes.size(); i++)
{
if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId && m_data->m_visualShapes[i].m_linkIndex == linkIndex)
{
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)
}
for (int i=0;i<m_data->m_swRenderInstances.size();i++)
{
TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(start);
TinyRendererObjectArray* visualArray = *visualArrayPtr;
btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(start);
const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
float rgba[4] = {rgbaColor[0], rgbaColor[1], rgbaColor[2], rgbaColor[3]};
for (int v=0;v<visualArray->m_renderObjects.size();v++)
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i);
if (ptrptr && *ptrptr)
{
visualArray->m_renderObjects[v]->m_model->setColorRGBA(rgba);
float rgba[4] = {rgbaColor[0], rgbaColor[1], rgbaColor[2], rgbaColor[3]};
TinyRendererObjectArray* visuals = *ptrptr;
if ((bodyUniqueId == visuals->m_objectUniqueId) && (linkIndex == visuals->m_linkIndex))
{
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;