class PbCameraNode(NodePath):
"""Pybullet-compatible camera node wrapper
"""
Z2Y = Mat4(1, 0, 0, 0, 0, 0, -1, 0, 0, 1, 0, 0, 0, 0, 0, 1)
def __init__(self, render: NodePath):
self._camera = Camera('pb_camera')
self._lens = MatrixLens()
self._camera.set_lens(self._lens)
super().__init__(self._camera)
self.reparent_to(render)
def set_active(self, active: bool):
self._camera.set_active(active)
def is_active(self):
return self._camera.is_active()
def update(self, pb_camera):
self.set_mat(self.Z2Y * Mat4(*pb_camera.pose_mat))
mat = np.asarray(pb_camera.proj_mat).reshape(4, 4)
m22, m32 = -mat[2, 2], -mat[3, 2]
zfar = (2.0 * m32) / (2.0 * m22 - 2.0)
znear = ((m22 - 1.0) * zfar) / (m22 + 1.0)
self._lens.set_near_far(znear, zfar)
self._lens.set_user_mat(self.Z2Y * Mat4(*pb_camera.proj_mat))
def init(self):
for i in range(self._max_updates):
camera = Camera("ShadowCam-" + str(i))
camera.set_lens(MatrixLens())
camera.set_active(False)
camera.set_scene(self._scene_parent)
self._tag_state_mgr.register_shadow_camera(camera)
self._camera_nps.append(self._scene_parent.attach_new_node(camera))
self._cameras.append(camera)
region = self._atlas_graphics_output.make_display_region()
region.set_sort(1000)
region.set_clear_depth_active(True)
region.set_clear_depth(1.0)
region.set_clear_color_active(False)
region.set_camera(self._camera_nps[i])
region.set_active(False)
self._display_regions.append(region)
self._atlas = ShadowAtlas(self._atlas_size)
def init(self):
for i in range(self._max_updates):
camera = Camera("ShadowCam-" + str(i))
camera.set_lens(MatrixLens())
camera.set_active(False)
camera.set_scene(self._scene_parent)
self._tag_state_mgr.register_camera("shadow", camera)
self._camera_nps.append(self._scene_parent.attach_new_node(camera))
self._cameras.append(camera)
region = self._atlas_graphics_output.make_display_region()
region.set_sort(1000)
region.set_clear_depth_active(True)
region.set_clear_depth(1.0)
region.set_clear_color_active(False)
region.set_camera(self._camera_nps[i])
region.set_active(False)
self._display_regions.append(region)
self._atlas = ShadowAtlas(self._atlas_size)
