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Code Issues Releases Wiki Activity

Remove debug code.

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This commit is contained in:
yunfeibai 2017-06-02 17:40:50 -07:00
parent 3506603d60
commit e2a9fc33dc
6 changed files with 8 additions and 105 deletions
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6
examples/RollingFrictionDemo/RollingFrictionDemo.cpp
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@ -58,9 +58,9 @@ public:
void resetCamera() void resetCamera()
{ {
float dist = 1; float dist = 35;
float pitch = 70; float pitch = -14;
float yaw = 10; float yaw = 0;
float targetPos[3]={0,0,0}; float targetPos[3]={0,0,0};
m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]); m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
} }

71
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -1930,65 +1930,6 @@ void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, in
command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SHADOW; 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)
{
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();
b3Vector3 eyePos = camPos - camTargetPos;
b3Vector3 eyeInitPos = b3MakeVector3(0, 0, 0);
int forwardAxis = -1;
switch (upAxis)
{
case 1:
forwardAxis = 2;
break;
case 2:
forwardAxis = 1;
break;
default:
return;
};
eyeInitPos[forwardAxis] = -cameraDistance;
eyeInitPos.normalize();
eyePos.normalize();
eyeInitPos[0] = 0.0;
eyeInitPos[1] = -1.0;
eyeInitPos[2] = 0.0;
b3Quaternion rot = b3ShortestArcQuat(eyeInitPos, eyePos);
//rot[0] = 0.571393847;
//rot[1] = 0.0499904789;
//rot[2] = 0.0713938028;
//rot[3] = 0.816034972;
btScalar yawRad;
btScalar pitchRad;
btScalar rollRad;
switch (upAxis)
{
case 1:
rot.getEulerZYX(rollRad, yawRad, pitchRad);
pitchRad = -pitchRad;
break;
case 2:
rot.getEulerZYX(yawRad, rollRad, pitchRad);
break;
default:
return;
};
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]) void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3])
{ {
b3Matrix3x3 r(viewMatrix[0], viewMatrix[4], viewMatrix[8], viewMatrix[1], viewMatrix[5], viewMatrix[9], viewMatrix[2], viewMatrix[6], viewMatrix[10]); b3Matrix3x3 r(viewMatrix[0], viewMatrix[4], viewMatrix[8], viewMatrix[1], viewMatrix[5], viewMatrix[9], viewMatrix[2], viewMatrix[6], viewMatrix[10]);
@ -2013,14 +1954,6 @@ void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPos
cameraUp[2] = u[2]; 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]) 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]); b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
@ -2095,9 +2028,7 @@ void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], fl
camForward.normalize(); camForward.normalize();
} }
eyePos[3] = 1.0; eyePos = b3Matrix3x3(eyeRot)*eyePos;
//eyePos = b3Matrix3x3(eyeRot)*eyePos;
eyePos = b3QuatRotate(eyeRot, eyePos);
camUpVector = b3Matrix3x3(eyeRot)*camUpVector; camUpVector = b3Matrix3x3(eyeRot)*camUpVector;
camPos = eyePos; camPos = eyePos;

2
examples/SharedMemory/PhysicsClientC_API.h
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@ -162,8 +162,6 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]); 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 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 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 b3ComputeYawPitchRollFromViewMatrix(const float viewMatrix[16], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch, float cameraTargetPosition[3]);
///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices ///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]); void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[16]);

16
examples/SharedMemory/PhysicsClientExample.cpp
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@ -276,22 +276,6 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
//b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL); //b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
float viewMatrix[16]; float viewMatrix[16];
float cameraTargetPosition[3] = {0.0, 0.0, 0.0};
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]; float projectionMatrix[16];
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix); m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix); m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);

8
examples/pybullet/examples/kuka_with_cube_playback.py
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@ -52,10 +52,10 @@ def readLogFile(filename, verbose = True):
#clid = p.connect(p.SHARED_MEMORY) #clid = p.connect(p.SHARED_MEMORY)
p.connect(p.GUI) p.connect(p.GUI)
p.loadURDF("plane.urdf",[0,0,-0.3]) p.loadURDF("plane.urdf",[0,0,-0.3])
p.loadURDF("kuka_iiwa/model.urdf",[0,0,10]) p.loadURDF("kuka_iiwa/model.urdf",[0,0,1])
p.loadURDF("cube.urdf",[2,2,50]) p.loadURDF("cube.urdf",[2,2,5])
p.loadURDF("cube.urdf",[-2,-2,50]) p.loadURDF("cube.urdf",[-2,-2,5])
p.loadURDF("cube.urdf",[2,-2,50]) p.loadURDF("cube.urdf",[2,-2,5])
log = readLogFile("LOG0001.txt") log = readLogFile("LOG0001.txt")

10
src/Bullet3Common/b3Quaternion.h
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@ -887,16 +887,6 @@ b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v)
B3_FORCE_INLINE b3Quaternion B3_FORCE_INLINE b3Quaternion
b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
{ {
/*
b3Quaternion q;
b3Vector3 a = v0.cross(v1);
q[0] = a[0];
q[1] = a[1];
q[2] = a[2];
q[3] = b3Sqrt((v0.length()*v0.length()) * (v1.length()*v1.length())) + v0.dot(v1);
return q;
*/
b3Vector3 c = v0.cross(v1); b3Vector3 c = v0.cross(v1);
b3Scalar d = v0.dot(v1); b3Scalar d = v0.dot(v1);