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Add pybullet API for shadow.

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This commit is contained in:
yunfeibai
2016-11-29 14:10:07 -08:00
parent b40c9cde96
commit 0cb2b21b5f
4 changed files with 13 additions and 8 deletions
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2
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1265,7 +1265,7 @@ void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHan
command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE; command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE;
} }
void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, bool hasShadow) void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, int hasShadow)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -99,7 +99,7 @@ void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command,
void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]); void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]);
void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]); void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]);
void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance); void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance);
void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, bool hasShadow); void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, int hasShadow);
void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer); void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer);
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData); void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -141,7 +141,7 @@ struct RequestPixelDataArgs
float m_lightDirection[3]; float m_lightDirection[3];
float m_lightColor[3]; float m_lightColor[3];
float m_lightDistance; float m_lightDistance;
bool m_hasShadow; int m_hasShadow;
}; };
enum EnumRequestPixelDataUpdateFlags enum EnumRequestPixelDataUpdateFlags

15
examples/pybullet/pybullet.c
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@@ -2209,7 +2209,7 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
/// Render an image from the current timestep of the simulation, width, height are required, other args are optional /// Render an image from the current timestep of the simulation, width, height are required, other args are optional
// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3]) // getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3], lightDist, hasShadow)
static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds) static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds)
{ {
/// request an image from a simulated camera, using a software renderer. /// request an image from a simulated camera, using a software renderer.
@@ -2221,6 +2221,8 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
float projectionMatrix[16]; float projectionMatrix[16];
float lightDir[3]; float lightDir[3];
float lightColor[3]; float lightColor[3];
float lightDist = 10.0;
int hasShadow = 0;
// inialize cmd // inialize cmd
b3SharedMemoryCommandHandle command; b3SharedMemoryCommandHandle command;
@@ -2232,10 +2234,10 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
command = b3InitRequestCameraImage(sm); command = b3InitRequestCameraImage(sm);
// set camera resolution, optionally view, projection matrix, light direction // set camera resolution, optionally view, projection matrix, light direction, light color, light distance, shadow
static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", NULL }; static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOO", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfi", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow))
{ {
return NULL; return NULL;
} }
@@ -2257,6 +2259,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetLightColor(command, lightColor); b3RequestCameraImageSetLightColor(command, lightColor);
} }
b3RequestCameraImageSetLightDistance(command, lightDist);
b3RequestCameraImageSetShadow(command, hasShadow);
if (b3CanSubmitCommand(sm)) if (b3CanSubmitCommand(sm))
{ {
@@ -3339,7 +3344,7 @@ static PyMethodDef SpamMethods[] = {
{ "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS, { "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS,
"Render an image (given the pixel resolution width, height, camera viewMatrix " "Render an image (given the pixel resolution width, height, camera viewMatrix "
", projectionMatrix and lightDirection), and return the " ", projectionMatrix, lightDirection, lightColor, lightDistance, and shadow), and return the "
"8-8-8bit RGB pixel data and floating point depth values" "8-8-8bit RGB pixel data and floating point depth values"
#ifdef PYBULLET_USE_NUMPY #ifdef PYBULLET_USE_NUMPY
" as NumPy arrays" " as NumPy arrays"