Merge pull request #3832 from erwincoumans/master

expose roll angle, fix python 2.x compatibility
bulletphysics · May 7, 2021 · 39d981b · 39d981b
2 parents 00cd39d + adcf785
commit 39d981b
Show file tree

Hide file tree

Showing 13 changed files with 180 additions and 60 deletions.
diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -52,6 +52,8 @@ struct GUIHelperInterface
 	virtual int getShapeIndexFromInstance(int instanceUid) { return -1; }
 	virtual void replaceTexture(int shapeIndex, int textureUid) {}
 	virtual void removeTexture(int textureUid) {}
+	virtual void setBackgroundColor(const double rgbBackground[3]) {}
+
 
 	virtual Common2dCanvasInterface* get2dCanvasInterface() = 0;
 

diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -56,6 +56,8 @@ struct CommonRenderInterface
 
 	virtual void setLightPosition(const float lightPos[3]) = 0;
 	virtual void setLightPosition(const double lightPos[3]) = 0;
+	virtual void setBackgroundColor(const double rgbBackground[3]) = 0;
+
 	virtual void setShadowMapResolution(int shadowMapResolution) = 0;
 	virtual void setShadowMapIntensity(double shadowMapIntensity) = 0;
 

diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -236,13 +236,19 @@ OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
 	m_data->m_debugDraw = 0;
 }
 
-OpenGLGuiHelper::~OpenGLGuiHelper()
+
+	OpenGLGuiHelper::~OpenGLGuiHelper()
 {
 	delete m_data->m_debugDraw;
 
 	delete m_data;
 }
 
+void OpenGLGuiHelper::setBackgroundColor(const double rgbBackground[3])
+{
+	this->getRenderInterface()->setBackgroundColor(rgbBackground);
+}
+
 struct CommonRenderInterface* OpenGLGuiHelper::getRenderInterface()
 {
 	return m_data->m_glApp->m_renderer;

diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -36,7 +36,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual int getShapeIndexFromInstance(int instanceUid);
 	virtual void replaceTexture(int shapeIndex, int textureUid);
 	virtual void updateShape(int shapeIndex, float* vertices, int numVertices);
-
+	virtual void setBackgroundColor(const double rgbBackground[3]);
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);

diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -1522,6 +1522,11 @@ void GLInstancingRenderer::setLightPosition(const double lightPos[3])
 	m_data->m_lightPos[2] = lightPos[2];
 }
 
+void GLInstancingRenderer::setBackgroundColor(const double rgbBackground[3])
+{
+	glClearColor(rgbBackground[0], rgbBackground[1], rgbBackground[2], 1.f);
+}
+
 void GLInstancingRenderer::setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
 {
 	for (int i = 0; i < 16; i++)

diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -127,7 +127,7 @@ class GLInstancingRenderer : public CommonRenderInterface
 	void setLightSpecularIntensity(const float lightSpecularIntensity[3]);
 	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
 	virtual void setProjectiveTexture(bool useProjectiveTexture);
-
+	virtual void setBackgroundColor(const double rgbBackground[3]);
 	virtual void resize(int width, int height);
 	virtual int getScreenWidth()
 	{

diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
@@ -30,6 +30,7 @@ class SimpleOpenGL2Renderer : public CommonRenderInterface
 	virtual void setShadowMapIntensity(double shadowMapIntensity) {}
 	virtual void setShadowMapWorldSize(float worldSize) {}
 	virtual void resize(int width, int height);
+	virtual void setBackgroundColor(const double rgbBackground[3]) {}
 
 	virtual void removeAllInstances();
 	virtual void removeGraphicsInstance(int instanceUid);

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -4572,7 +4572,7 @@ B3_SHARED_API void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetP
 
 	b3Scalar yawRad = yaw * b3Scalar(0.01745329251994329547);      // rads per deg
 	b3Scalar pitchRad = pitch * b3Scalar(0.01745329251994329547);  // rads per deg
-	b3Scalar rollRad = 0.0;
+	b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);      // rads per deg
 	b3Quaternion eyeRot;
 
 	int forwardAxis(-1);
@@ -6064,6 +6064,21 @@ B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCom
 	}
 }
 
+B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightRgbBackground(b3SharedMemoryCommandHandle commandHandle, const float rgbBackground[3])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
+	if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
+	{
+		command->m_updateFlags |= COV_SET_RGB_BACKGROUND;
+		command->m_configureOpenGLVisualizerArguments.m_rgbBackground[0] = rgbBackground[0];
+		command->m_configureOpenGLVisualizerArguments.m_rgbBackground[1] = rgbBackground[1];
+		command->m_configureOpenGLVisualizerArguments.m_rgbBackground[2] = rgbBackground[2];
+	}
+}
+
+
 B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
@@ -218,7 +218,9 @@ extern "C"
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle commandHandle, const float lightPosition[3]);
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution);
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapIntensity(b3SharedMemoryCommandHandle commandHandle, double shadowMapIntensity);
+	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightRgbBackground(b3SharedMemoryCommandHandle commandHandle, const float rgbBackground[3]);
 
+
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle commandHandle, int shadowMapWorldSize);
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle commandHandle, double remoteSyncTransformInterval);
 

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -11305,6 +11305,10 @@ bool PhysicsServerCommandProcessor::processConfigureOpenGLVisualizerCommand(cons
 		{
 			m_data->m_guiHelper->getRenderInterface()->setLightPosition(clientCmd.m_configureOpenGLVisualizerArguments.m_lightPosition);
 		}
+		if (clientCmd.m_updateFlags & COV_SET_RGB_BACKGROUND)
+		{
+			m_data->m_guiHelper->setBackgroundColor(clientCmd.m_configureOpenGLVisualizerArguments.m_rgbBackground);
+		}
 		if (clientCmd.m_updateFlags & COV_SET_SHADOWMAP_RESOLUTION)
 		{
 			m_data->m_guiHelper->getRenderInterface()->setShadowMapResolution(clientCmd.m_configureOpenGLVisualizerArguments.m_shadowMapResolution);