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Add shared memory API for setting shadow and light source distance.

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This commit is contained in:
yunfeibai
2016-11-29 13:19:35 -08:00
parent 8aa90a7427
commit 1fbd78ece5
7 changed files with 58 additions and 6 deletions
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27
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -89,10 +89,10 @@ protected:
virtual void resetCamera()
{
float dist = 1.233281;
float pitch = 193;
float yaw = 25;
float targetPos[3]={0.103042,-0.469102,0.631005};//-3,2.8,-2.5};
float dist = 4;
float pitch = 193;
float yaw = 25;
float targetPos[3]={0,0,0.5};//-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
@@ -242,7 +242,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
{
case CMD_LOAD_URDF:
{
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "torus/torus_with_separate_plane.urdf");
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf");
//setting the initial position, orientation and other arguments are optional
double startPosX = 0;
static double startPosY = 0;
@@ -481,6 +481,22 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
}
break;
}
case CMD_SET_SHADOW:
{
b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
float viewMatrix[16];
float projectionMatrix[16];
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
bool hasShadow = true;
b3RequestCameraImageSetShadow(commandHandle, hasShadow);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
default:
{
b3Error("Unknown buttonId");
@@ -556,6 +572,7 @@ void PhysicsClientExample::createButtons()
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Load SDF",CMD_LOAD_SDF, isTrigger);
createButton("Save World",CMD_SAVE_WORLD, isTrigger);
createButton("Set Shadow",CMD_SET_SHADOW, isTrigger);
createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION, isTrigger);