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allow getClosestPoints for btCompoundCollisionAlgorithm and btSphereTriangleCollisionAlgorithm

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add optional 'lightColor' arg to testrender.py script
This commit is contained in:
erwincoumans
2016-11-22 10:11:04 -08:00
parent 24c9020aac
commit 0516d2ecaa
4 changed files with 7 additions and 3 deletions
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examples/pybullet/testrender.py
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@@ -19,6 +19,7 @@ pixelHeight = 240
nearPlane = 0.01
farPlane = 1000
lightDirection = [0,1,0]
lightColor = [1,1,1]#optional argument
fov = 60
#img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
@@ -28,7 +29,7 @@ for pitch in range (0,360,10) :
viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
aspect = pixelWidth / pixelHeight;
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection)
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection,lightColor)
w=img_arr[0]
h=img_arr[1]
rgb=img_arr[2]