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Merge remote-tracking branch 'bp/master'

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Erwin Coumans
2016-11-29 19:14:04 -08:00
parent 8de35cf01c 273f04e0de
commit 32a3fb0b4d
25 changed files with 20758 additions and 100 deletions
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15
examples/pybullet/pybullet.c
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@@ -2451,7 +2451,7 @@ 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
// 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)
{
/// request an image from a simulated camera, using a software renderer.
@@ -2463,6 +2463,8 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
float projectionMatrix[16];
float lightDir[3];
float lightColor[3];
float lightDist = 10.0;
int hasShadow = 0;
// inialize cmd
b3SharedMemoryCommandHandle command;
@@ -2474,10 +2476,10 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
command = b3InitRequestCameraImage(sm);
// set camera resolution, optionally view, projection matrix, light direction
static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", NULL };
// 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", 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;
}
@@ -2499,6 +2501,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetLightColor(command, lightColor);
}
b3RequestCameraImageSetLightDistance(command, lightDist);
b3RequestCameraImageSetShadow(command, hasShadow);
if (b3CanSubmitCommand(sm))
{
@@ -3589,7 +3594,7 @@ static PyMethodDef SpamMethods[] = {
{ "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS,
"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"
#ifdef PYBULLET_USE_NUMPY
" as NumPy arrays"