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implement pybullet.getDebugVisualizerCamera, width, height, providing viewmatrix, projection matrix

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This commit is contained in:
Erwin Coumans 2017-04-10 11:03:41 -07:00
parent 82b6bc8770
commit bdf366b045
16 changed files with 284 additions and 9 deletions
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2
examples/CommonInterfaces/CommonCameraInterface.h
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@ -24,6 +24,8 @@ struct CommonCameraInterface
virtual void setCameraUpVector(float x,float y, float z) = 0;
virtual void getCameraUpVector(float up[3]) const = 0;
virtual void getCameraForwardVector(float fwd[3]) const = 0;
///the setCameraUpAxis will call the 'setCameraUpVector' and 'setCameraForwardVector'
virtual void setCameraUpAxis(int axis) = 0;
virtual int getCameraUpAxis() const = 0;

10
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@ -44,12 +44,22 @@ struct GUIHelperInterface
virtual CommonRenderInterface* getRenderInterface()=0;
virtual const CommonRenderInterface* getRenderInterface() const
{
return 0;
}
virtual CommonGraphicsApp* getAppInterface()=0;
virtual void setUpAxis(int axis)=0;
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)=0;
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
{
return false;
}
virtual void setVisualizerFlag(int flag, int enable){};
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],

56
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@ -190,6 +190,11 @@ struct CommonRenderInterface* OpenGLGuiHelper::getRenderInterface()
return m_data->m_glApp->m_renderer;
}
const struct CommonRenderInterface* OpenGLGuiHelper::getRenderInterface() const
{
return m_data->m_glApp->m_renderer;
}
void OpenGLGuiHelper::createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
{
createCollisionObjectGraphicsObject(body,color);
@ -386,6 +391,57 @@ void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float c
}
}
bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const
{
if (getRenderInterface() && getRenderInterface()->getActiveCamera())
{
*width = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
*height = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
getRenderInterface()->getActiveCamera()->getCameraUpVector(camUp);
getRenderInterface()->getActiveCamera()->getCameraForwardVector(camForward);
float frustumNearPlane = getRenderInterface()->getActiveCamera()->getCameraFrustumNear();
float frustumFarPlane = getRenderInterface()->getActiveCamera()->getCameraFrustumFar();
float top = 1.f;
float bottom = -1.f;
float tanFov = (top-bottom)*0.5f / frustumNearPlane;
float fov = btScalar(2.0) * btAtan(tanFov);
btVector3 camPos,camTarget;
getRenderInterface()->getActiveCamera()->getCameraPosition(camPos);
getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
btVector3 rayFrom = camPos;
btVector3 rayForward = (camTarget-camPos);
rayForward.normalize();
float farPlane = 10000.f;
rayForward*= farPlane;
btVector3 rightOffset;
btVector3 cameraUp=btVector3(camUp[0],camUp[1],camUp[2]);
btVector3 vertical = cameraUp;
btVector3 hori;
hori = rayForward.cross(vertical);
hori.normalize();
vertical = hori.cross(rayForward);
vertical.normalize();
float tanfov = tanf(0.5f*fov);
hori *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
btScalar aspect = *width / *height;
hori*=aspect;
//compute 'hor' and 'vert' vectors, useful to generate raytracer rays
hor[0] = hori[0];
hor[1] = hori[1];
hor[2] = hori[2];
vert[0] = vertical[0];
vert[1] = vertical[1];
vert[2] = vertical[2];
return true;
}
return false;
}
void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,

2
examples/ExampleBrowser/OpenGLGuiHelper.h
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@ -15,6 +15,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual ~OpenGLGuiHelper();
virtual struct CommonRenderInterface* getRenderInterface();
virtual const struct CommonRenderInterface* getRenderInterface() const;
virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color);
@ -44,6 +45,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float 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;
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,

8
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@ -1551,9 +1551,11 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
b3CreateOrtho(-shadowMapWorldSize,shadowMapWorldSize,-shadowMapWorldSize,shadowMapWorldSize,1,300,depthProjectionMatrix);//-14,14,-14,14,1,200, depthProjectionMatrix);
float depthViewMatrix[4][4];
b3Vector3 center = b3MakeVector3(0,0,0);
float upf[3];
m_data->m_activeCamera->getCameraUpVector(upf);
b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]);
//float upf[3];
//m_data->m_activeCamera->getCameraUpVector(upf);
b3Vector3 up, fwd;
b3PlaneSpace1(gLightPos,up,fwd);
// b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]);
b3CreateLookAt(gLightPos,center,up,&depthViewMatrix[0][0]);
//b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2);

34
examples/OpenGLWindow/SimpleCamera.cpp
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@ -68,6 +68,8 @@ void SimpleCamera::setVRCamera(const float viewMat[16], const float projectionMa
{
m_data->m_viewMatrixVR[i] = viewMat[i];
m_data->m_projectionMatrixVR[i] = projectionMatrix[i];
m_data->m_frustumZNear = m_data->m_projectionMatrixVR[14]/(m_data->m_projectionMatrixVR[10]-1);
m_data->m_frustumZFar = m_data->m_projectionMatrixVR[14]/(m_data->m_projectionMatrixVR[10]+1);
}
}
@ -346,11 +348,37 @@ void SimpleCamera::setCameraUpVector(float x,float y ,float z)
void SimpleCamera::getCameraUpVector(float up[3]) const
{
up[0] = float(m_data->m_cameraUp[0]);
up[1] = float(m_data->m_cameraUp[1]);
up[2] = float(m_data->m_cameraUp[2]);
if (m_data->m_enableVR)
{
float viewMatTotal[16];
getCameraViewMatrix(viewMatTotal);
up[0] = viewMatTotal[0];
up[1] = viewMatTotal[4];
up[2] = viewMatTotal[8];
} else
{
up[0] = float(m_data->m_cameraUp[0]);
up[1] = float(m_data->m_cameraUp[1]);
up[2] = float(m_data->m_cameraUp[2]);
}
}
void SimpleCamera::getCameraForwardVector(float fwd[3]) const
{
if (m_data->m_enableVR)
{
float viewMatTotal[16];
getCameraViewMatrix(viewMatTotal);
fwd[0] = viewMatTotal[2];
fwd[1] = viewMatTotal[6];
fwd[2] = viewMatTotal[10];
} else
{
fwd[0] = float(m_data->m_cameraForward[0]);
fwd[1] = float(m_data->m_cameraForward[1]);
fwd[2] = float(m_data->m_cameraForward[2]);
}
}
void SimpleCamera::setCameraYaw(float yaw)
{

4
examples/OpenGLWindow/SimpleCamera.h
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@ -35,6 +35,10 @@ struct SimpleCamera : public CommonCameraInterface
virtual void setCameraUpVector(float x,float y, float z);
void getCameraUpVector(float up[3]) const;
void getCameraForwardVector(float fwd[3]) const;
///the setCameraUpAxis will call the 'setCameraUpVector' and 'setCameraForwardVector'
virtual void setCameraUpAxis(int axis);
virtual int getCameraUpAxis() const;

27
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -2843,6 +2843,33 @@ void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle comman
}
}
b3SharedMemoryCommandHandle b3InitRequestOpenGLVisualizerCameraCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_REQUEST_OPENGL_VISUALIZER_CAMERA;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
int b3GetStatusOpenGLVisualizerCamera(b3SharedMemoryStatusHandle statusHandle, b3OpenGLVisualizerCameraInfo* camera)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
//b3Assert(status);
if (status && status->m_type == CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED)
{
*camera = status->m_visualizerCameraResultArgs;
return 1;
}
return 0;
}
void b3SetTimeOut(b3PhysicsClientHandle physClient, double timeOutInSeconds)
{
PhysicsClient* cl = (PhysicsClient*)physClient;

3
examples/SharedMemory/PhysicsClientC_API.h
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@ -104,6 +104,9 @@ b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandl
void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled);
void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[3]);
b3SharedMemoryCommandHandle b3InitRequestOpenGLVisualizerCameraCommand(b3PhysicsClientHandle physClient);
int b3GetStatusOpenGLVisualizerCamera(b3SharedMemoryStatusHandle statusHandle, struct b3OpenGLVisualizerCameraInfo* camera);
/// Add/remove user-specific debug lines and debug text messages
b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[3], double toXYZ[3], double colorRGB[3], double lineWidth, double lifeTime);

10
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@ -990,6 +990,16 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("State Logging failed");
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED:
{
b3Warning("Request visualizer camera failed");
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED:
{
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);

10
examples/SharedMemory/PhysicsDirect.cpp
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@ -834,6 +834,16 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED:
{
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED:
{
b3Warning("requestOpenGLVisualizeCamera failed");
break;
}
case CMD_REMOVE_USER_CONSTRAINT_FAILED:
{
b3Warning("removeConstraint failed");

18
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -4186,6 +4186,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA:
{
BT_PROFILE("CMD_REQUEST_OPENGL_VISUALIZER_CAMERA");
SharedMemoryStatus& serverCmd = serverStatusOut;
bool result = this->m_data->m_guiHelper->getCameraInfo(
&serverCmd.m_visualizerCameraResultArgs.m_width,
&serverCmd.m_visualizerCameraResultArgs.m_height,
serverCmd.m_visualizerCameraResultArgs.m_viewMatrix,
serverCmd.m_visualizerCameraResultArgs.m_projectionMatrix,
serverCmd.m_visualizerCameraResultArgs.m_camUp,
serverCmd.m_visualizerCameraResultArgs.m_camForward,
serverCmd.m_visualizerCameraResultArgs.m_horizontal,
serverCmd.m_visualizerCameraResultArgs.m_vertical);
serverCmd.m_type = result ? CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED: CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED;
hasStatus = true;
break;
}
case CMD_CONFIGURE_OPENGL_VISUALIZER:
{
BT_PROFILE("CMD_CONFIGURE_OPENGL_VISUALIZER");

6
examples/SharedMemory/PhysicsServerExample.cpp
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@ -808,6 +808,12 @@ public:
m_childGuiHelper->resetCamera(camDist,pitch,yaw,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
{
return m_childGuiHelper->getCameraInfo(width,height,viewMatrix,projectionMatrix,camUp,camForward,hor,vert);
}
float m_viewMatrix[16];
float m_projectionMatrix[16];
unsigned char* m_pixelsRGBA;

2
examples/SharedMemory/SharedMemoryCommands.h
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@ -790,7 +790,7 @@ struct SharedMemoryStatus
struct SendKeyboardEvents m_sendKeyboardEvents;
struct SendRaycastHits m_raycastHits;
struct StateLoggingResultArgs m_stateLoggingResultArgs;
struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
};
};

16
examples/SharedMemory/SharedMemoryPublic.h
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@ -54,6 +54,7 @@ enum EnumSharedMemoryClientCommand
CMD_STATE_LOGGING,
CMD_CONFIGURE_OPENGL_VISUALIZER,
CMD_REQUEST_KEYBOARD_EVENTS_DATA,
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@ -133,6 +134,8 @@ enum EnumSharedMemoryServerStatus
CMD_STATE_LOGGING_FAILED,
CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED,
CMD_REQUEST_KEYBOARD_EVENTS_DATA_FAILED,
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED,
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
@ -248,6 +251,19 @@ struct b3CameraImageData
const int* m_segmentationMaskValues;//m_pixelWidth*m_pixelHeight ints
};
struct b3OpenGLVisualizerCameraInfo
{
int m_width;
int m_height;
float m_viewMatrix[16];
float m_projectionMatrix[16];
float m_camUp[3];
float m_camForward[3];
float m_horizontal[3];
float m_vertical[3];
};
enum b3VREventType
{

81
examples/pybullet/pybullet.c
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@ -3246,6 +3246,84 @@ static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject*
return Py_None;
}
static PyObject* pybullet_getDebugVisualizerCamera(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"physicsClientId", NULL};
b3SharedMemoryCommandHandle commandHandle;
int hasCamInfo;
b3SharedMemoryStatusHandle statusHandle;
struct b3OpenGLVisualizerCameraInfo camera;
PyObject* pyCameraList =0;
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
commandHandle = b3InitRequestOpenGLVisualizerCameraCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
hasCamInfo = b3GetStatusOpenGLVisualizerCamera(statusHandle, &camera);
if (hasCamInfo)
{
PyObject* item=0;
pyCameraList = PyTuple_New(8);
item = PyInt_FromLong(camera.m_width);
PyTuple_SetItem(pyCameraList,0,item);
item = PyInt_FromLong(camera.m_height);
PyTuple_SetItem(pyCameraList,1,item);
{
PyObject* viewMat16 = PyTuple_New(16);
PyObject* projMat16 = PyTuple_New(16);
int i;
for (i=0;i<16;i++)
{
item = PyFloat_FromDouble(camera.m_viewMatrix[i]);
PyTuple_SetItem(viewMat16,i,item);
item = PyFloat_FromDouble(camera.m_projectionMatrix[i]);
PyTuple_SetItem(projMat16,i,item);
}
PyTuple_SetItem(pyCameraList,2,viewMat16);
PyTuple_SetItem(pyCameraList,3,projMat16);
}
{
PyObject* item=0;
int i;
PyObject* camUp = PyTuple_New(3);
PyObject* camFwd = PyTuple_New(3);
PyObject* hor = PyTuple_New(3);
PyObject* vert= PyTuple_New(3);
for (i=0;i<3;i++)
{
item = PyFloat_FromDouble(camera.m_camUp[i]);
PyTuple_SetItem(camUp,i,item);
item = PyFloat_FromDouble(camera.m_camForward[i]);
PyTuple_SetItem(camFwd,i,item);
item = PyFloat_FromDouble(camera.m_horizontal[i]);
PyTuple_SetItem(hor,i,item);
item = PyFloat_FromDouble(camera.m_vertical[i]);
PyTuple_SetItem(vert,i,item);
}
PyTuple_SetItem(pyCameraList,4,camUp);
PyTuple_SetItem(pyCameraList,5,camFwd);
PyTuple_SetItem(pyCameraList,6,hor);
PyTuple_SetItem(pyCameraList,7,vert);
}
return pyCameraList;
}
PyErr_SetString(SpamError, "Cannot get OpenGL visualizer camera info.");
return NULL;
}
static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* args, PyObject* keywds)
{
int flag = 1;
@ -5427,6 +5505,9 @@ static PyMethodDef SpamMethods[] = {
"Override the wireframe debug drawing color for a particular object unique id / link index."
"If you ommit the color, the custom color will be removed."},
{"getDebugVisualizerCamera", (PyCFunction)pybullet_getDebugVisualizerCamera, METH_VARARGS | METH_KEYWORDS,
"Get information about the 3D visualizer camera, such as width, height, view matrix, projection matrix etc."},
{"configureDebugVisualizer", (PyCFunction)pybullet_configureDebugVisualizer, METH_VARARGS | METH_KEYWORDS,
"For the 3D OpenGL Visualizer, enable/disable GUI, shadows."},