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fix setup.py and pybullet to work better with eglPlugin on Linux

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This commit is contained in:
Erwin Coumans
2018-09-11 13:24:35 -07:00
parent 36c900e384
commit 23ecbab7b3
4 changed files with 201 additions and 223 deletions
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31
examples/pybullet/examples/eglRenderTest.py
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@@ -8,7 +8,7 @@ p.connect(p.DIRECT)
plugin = p.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
print("plugin=",plugin)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
@@ -26,15 +26,22 @@ upAxisIndex = 2
while (p.isConnected()):
for yaw in range (0,360,10) :
p.stepSimulation()
#viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
projectionMatrix = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]
img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix=viewMatrix, projectionMatrix=projectionMatrix, shadow=1,lightDirection=[1,1,1])
#time.sleep(.1)
#print("img_arr=",img_arr)
for yaw in range (0,360,10) :
start = time.time()
p.stepSimulation()
stop = time.time()
print ("stepSimulation %f" % (stop - start))
#viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
projectionMatrix = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]
start = time.time()
img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix=viewMatrix, projectionMatrix=projectionMatrix, shadow=1,lightDirection=[1,1,1])
stop = time.time()
print ("renderImage %f" % (stop - start))
#time.sleep(.1)
#print("img_arr=",img_arr)
p.unloadPlugin(plugin)

312
examples/pybullet/pybullet.c
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