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https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
Remove debug code.
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3506603d60
commit
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@ -58,9 +58,9 @@ public:
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void resetCamera()
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{
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float dist = 1;
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float pitch = 70;
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float yaw = 10;
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float dist = 35;
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float pitch = -14;
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float yaw = 0;
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float targetPos[3]={0,0,0};
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m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
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}
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@ -1930,65 +1930,6 @@ void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, in
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command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SHADOW;
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}
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void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch)
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{
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b3Vector3 camPos = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
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b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
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b3Vector3 camUpVector = b3MakeVector3(cameraUp[0], cameraUp[1], cameraUp[2]);
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camUpVector.normalize();
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cameraDistance = (camPos - camTargetPos).length();
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b3Vector3 eyePos = camPos - camTargetPos;
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b3Vector3 eyeInitPos = b3MakeVector3(0, 0, 0);
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int forwardAxis = -1;
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switch (upAxis)
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{
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case 1:
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forwardAxis = 2;
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break;
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case 2:
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forwardAxis = 1;
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break;
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default:
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return;
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};
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eyeInitPos[forwardAxis] = -cameraDistance;
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eyeInitPos.normalize();
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eyePos.normalize();
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eyeInitPos[0] = 0.0;
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eyeInitPos[1] = -1.0;
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eyeInitPos[2] = 0.0;
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b3Quaternion rot = b3ShortestArcQuat(eyeInitPos, eyePos);
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//rot[0] = 0.571393847;
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//rot[1] = 0.0499904789;
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//rot[2] = 0.0713938028;
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//rot[3] = 0.816034972;
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btScalar yawRad;
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btScalar pitchRad;
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btScalar rollRad;
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switch (upAxis)
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{
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case 1:
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rot.getEulerZYX(rollRad, yawRad, pitchRad);
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pitchRad = -pitchRad;
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break;
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case 2:
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rot.getEulerZYX(yawRad, rollRad, pitchRad);
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break;
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default:
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return;
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};
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cameraYaw = yawRad/b3Scalar(0.01745329251994329547);
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cameraPitch = pitchRad/b3Scalar(0.01745329251994329547);
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}
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void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3])
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{
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b3Matrix3x3 r(viewMatrix[0], viewMatrix[4], viewMatrix[8], viewMatrix[1], viewMatrix[5], viewMatrix[9], viewMatrix[2], viewMatrix[6], viewMatrix[10]);
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@ -2013,14 +1954,6 @@ void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPos
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cameraUp[2] = u[2];
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}
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void b3ComputeYawPitchRollFromViewMatrix(const float viewMatrix[16], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch, float cameraTargetPosition[3])
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{
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float cameraPosition[3];
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float cameraUp[3];
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b3ComputePositionFromViewMatrix(viewMatrix, cameraPosition, cameraTargetPosition, cameraUp);
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b3ComputeYawPitchRollFromPosition(cameraPosition, cameraTargetPosition, cameraUp, upAxis, cameraDistance, cameraYaw, cameraPitch);
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}
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void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16])
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{
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b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
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@ -2095,9 +2028,7 @@ void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], fl
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camForward.normalize();
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}
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eyePos[3] = 1.0;
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//eyePos = b3Matrix3x3(eyeRot)*eyePos;
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eyePos = b3QuatRotate(eyeRot, eyePos);
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eyePos = b3Matrix3x3(eyeRot)*eyePos;
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camUpVector = b3Matrix3x3(eyeRot)*camUpVector;
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camPos = eyePos;
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@ -162,8 +162,6 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
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void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]);
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void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[16]);
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void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3]);
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void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch);
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void b3ComputeYawPitchRollFromViewMatrix(const float viewMatrix[16], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch, float cameraTargetPosition[3]);
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///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices
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void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[16]);
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@ -276,22 +276,6 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
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//b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
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float viewMatrix[16];
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float cameraTargetPosition[3] = {0.0, 0.0, 0.0};
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float distance = 1.0;
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float yaw = 10.0;
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float pitch = 70.0;
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float roll = 0.0;
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int upAxis = 2;
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float cameraDistance;
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float cameraYaw;
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float cameraPitch;
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float cameraTargetPositionNew[3];
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b3ComputeViewMatrixFromYawPitchRoll(cameraTargetPosition, distance, yaw, pitch, roll, upAxis, viewMatrix);
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b3ComputeYawPitchRollFromViewMatrix(viewMatrix, upAxis, cameraDistance, cameraYaw, cameraPitch, cameraTargetPositionNew);
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b3ComputeViewMatrixFromYawPitchRoll(cameraTargetPositionNew, cameraDistance, cameraYaw, cameraPitch, 0.0, upAxis, viewMatrix);
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float projectionMatrix[16];
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m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
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m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
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@ -52,10 +52,10 @@ def readLogFile(filename, verbose = True):
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#clid = p.connect(p.SHARED_MEMORY)
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p.connect(p.GUI)
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p.loadURDF("plane.urdf",[0,0,-0.3])
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p.loadURDF("kuka_iiwa/model.urdf",[0,0,10])
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p.loadURDF("cube.urdf",[2,2,50])
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p.loadURDF("cube.urdf",[-2,-2,50])
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p.loadURDF("cube.urdf",[2,-2,50])
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p.loadURDF("kuka_iiwa/model.urdf",[0,0,1])
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p.loadURDF("cube.urdf",[2,2,5])
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p.loadURDF("cube.urdf",[-2,-2,5])
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p.loadURDF("cube.urdf",[2,-2,5])
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log = readLogFile("LOG0001.txt")
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@ -887,16 +887,6 @@ b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v)
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B3_FORCE_INLINE b3Quaternion
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b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
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{
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/*
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b3Quaternion q;
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b3Vector3 a = v0.cross(v1);
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q[0] = a[0];
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q[1] = a[1];
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q[2] = a[2];
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q[3] = b3Sqrt((v0.length()*v0.length()) * (v1.length()*v1.length())) + v0.dot(v1);
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return q;
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*/
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b3Vector3 c = v0.cross(v1);
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b3Scalar d = v0.dot(v1);
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