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Merge pull request #1609 from YunfeiBai/master

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Add PyBullet API to set projective texture.
This commit is contained in:
erwincoumans
2018-03-26 16:27:14 -07:00
committed by GitHub
parent f690687416 6b97e1e604
commit 31ab72a0ed
14 changed files with 123 additions and 11 deletions
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13
examples/pybullet/pybullet.c
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@@ -6761,10 +6761,12 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
{
/// request an image from a simulated camera, using software or hardware renderer.
struct b3CameraImageData imageData;
PyObject *objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
PyObject *objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0, *objProjectiveTextureView = 0, *objProjectiveTextureProj = 0;
int width, height;
float viewMatrix[16];
float projectionMatrix[16];
float projectiveTextureView[16];
float projectiveTextureProj[16];
float lightDir[3];
float lightColor[3];
float lightDist = -1;
@@ -6779,9 +6781,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
// set camera resolution, optionally view, projection matrix, light direction, light color, light distance, shadow
static char* kwlist[] = {"width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", "renderer", "flags", "physicsClientId", NULL};
static char* kwlist[] = {"width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", "renderer", "flags", "projectiveTextureView", "projectiveTextureProj", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifffiii", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff, &renderer, &flags, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifffiiOOi", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff, &renderer, &flags, &objProjectiveTextureView, &objProjectiveTextureProj, &physicsClientId))
{
return NULL;
}
@@ -6837,6 +6839,10 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
{
b3RequestCameraImageSetFlags(command, flags);
}
if (objProjectiveTextureView && objProjectiveTextureProj && pybullet_internalSetMatrix(objProjectiveTextureView, projectiveTextureView) && (pybullet_internalSetMatrix(objProjectiveTextureProj, projectiveTextureProj)))
{
b3RequestCameraImageSetProjectiveTextureMatrices(command, projectiveTextureView, projectiveTextureProj);
}
if (renderer>=0)
{
b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
@@ -9150,6 +9156,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
PyModule_AddIntConstant(m, "ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX", ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX);
PyModule_AddIntConstant(m, "ER_USE_PROJECTIVE_TEXTURE", ER_USE_PROJECTIVE_TEXTURE);
PyModule_AddIntConstant(m, "IK_DLS", IK_DLS);
PyModule_AddIntConstant(m, "IK_SDLS", IK_SDLS);