PyBullet OpenGL/EGL hardware getCameraImage: use glViewport to reduce the glReadPixels calling cost dramatically for small images

PyBullet Allow OpenGL/EGL hardware to render segmentation mask. Use pybullet.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX or pybullet.ER_SEGMENTATION_MASK
PyBullet.removeBody fix indexing bug (use foundIndex, not i)
PyBullet bump up version to 2.2.3

examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl

@@ -8,7 +8,7 @@ layout (location = 2) in vec4 instance_quaternion;
 layout (location = 3) in vec2 uvcoords;
 layout (location = 4) in vec3 vertexnormal;
 layout (location = 5) in vec4 instance_color;
-layout (location = 6) in vec3 instance_scale;
+layout (location = 6) in vec4 instance_scale_obUid;
 
 
 uniform mat4 depthMVP;
@@ -48,7 +48,7 @@ vec4 quatRotate ( in vec4 p, in vec4 q )
 void main(void)
 {
 	vec4 q = instance_quaternion;
-	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);
+	vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);
 	vec4 vertexPos = depthMVP * vec4( (instance_position+localcoord).xyz,1);
 	gl_Position = vertexPos;
 }

examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.h

@@ -8,7 +8,7 @@ static const char* createShadowMapInstancingVertexShader =
 	"layout (location = 3) in vec2 uvcoords;\n"
 	"layout (location = 4) in vec3 vertexnormal;\n"
 	"layout (location = 5) in vec4 instance_color;\n"
-	"layout (location = 6) in vec3 instance_scale;\n"
+	"layout (location = 6) in vec4 instance_scale_obUid;\n"
 	"uniform mat4 depthMVP;\n"
 	"vec4 quatMul ( in vec4 q1, in vec4 q2 )\n"
 	"{\n"
@@ -41,7 +41,7 @@ static const char* createShadowMapInstancingVertexShader =
 	"void main(void)\n"
 	"{\n"
 	"	vec4 q = instance_quaternion;\n"
-	"	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);\n"
+	"	vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);\n"
 	"	vec4 vertexPos = depthMVP * vec4( (instance_position+localcoord).xyz,1);\n"
 	"	gl_Position = vertexPos;\n"
 	"}\n";

examples/OpenGLWindow/Shaders/instancingVS.glsl

@@ -8,7 +8,7 @@ layout (location = 2) in vec4 instance_quaternion;
 layout (location = 3) in vec2 uvcoords;
 layout (location = 4) in vec3 vertexnormal;
 layout (location = 5) in vec4 instance_color;
-layout (location = 6) in vec3 instance_scale;
+layout (location = 6) in vec4 instance_scale_obUid;
 
 
 uniform mat4 ModelViewMatrix;
@@ -68,7 +68,7 @@ void main(void)
 	
 	lightDir = lightDirIn;
 	
-	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);
+	vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);
 	vec4 vertexPos = ProjectionMatrix * ModelViewMatrix *(instance_position+localcoord);
 
 	gl_Position = vertexPos;

examples/OpenGLWindow/Shaders/instancingVS.h

@@ -8,7 +8,7 @@ static const char* instancingVertexShader =
 	"layout (location = 3) in vec2 uvcoords;\n"
 	"layout (location = 4) in vec3 vertexnormal;\n"
 	"layout (location = 5) in vec4 instance_color;\n"
-	"layout (location = 6) in vec3 instance_scale;\n"
+	"layout (location = 6) in vec4 instance_scale_obUid;\n"
 	"uniform mat4 ModelViewMatrix;\n"
 	"uniform mat4 ProjectionMatrix;\n"
 	"uniform vec3 lightDirIn;\n"
@@ -59,7 +59,7 @@ static const char* instancingVertexShader =
 	"	\n"
 	"	lightDir = lightDirIn;\n"
 	"	\n"
-	"	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);\n"
+	"	vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);\n"
 	"	vec4 vertexPos = ProjectionMatrix * ModelViewMatrix *(instance_position+localcoord);\n"
 	"	gl_Position = vertexPos;\n"
 	"	\n"

examples/OpenGLWindow/Shaders/pointSpriteVS.glsl

@@ -8,7 +8,7 @@ layout (location = 1) in vec4 instance_position;
 layout (location = 3) in vec2 uvcoords;
 layout (location = 4) in vec3 vertexnormal;
 layout (location = 5) in vec4 instance_color;
-layout (location = 6) in vec3 instance_scale;
+layout (location = 6) in vec4 instance_scale_obUid;
 
 
 uniform float screenWidth = 700.f;
@@ -38,7 +38,7 @@ void main(void)
 	vec3 posEye = vec3(ModelViewMatrix * vec4(instance_position.xyz, 1.0));
    float dist = length(posEye);
 	float pointRadius = 1.f;
-    gl_PointSize = instance_scale.x * pointRadius * (screenWidth / dist);
+    gl_PointSize = instance_scale_obUid.x * pointRadius * (screenWidth / dist);
 
 	gl_Position = vertexPos;
 	

examples/OpenGLWindow/Shaders/pointSpriteVS.h

@@ -7,7 +7,7 @@ static const char* pointSpriteVertexShader =
 	"layout (location = 3) in vec2 uvcoords;\n"
 	"layout (location = 4) in vec3 vertexnormal;\n"
 	"layout (location = 5) in vec4 instance_color;\n"
-	"layout (location = 6) in vec3 instance_scale;\n"
+	"layout (location = 6) in vec4 instance_scale_obUid;\n"
 	"uniform float screenWidth = 700.f;\n"
 	"uniform mat4 ModelViewMatrix;\n"
 	"uniform mat4 ProjectionMatrix;\n"
@@ -29,7 +29,7 @@ static const char* pointSpriteVertexShader =
 	"	vec3 posEye = vec3(ModelViewMatrix * vec4(instance_position.xyz, 1.0));\n"
 	"   float dist = length(posEye);\n"
 	"	float pointRadius = 1.f;\n"
-	"    gl_PointSize = instance_scale.x * pointRadius * (screenWidth / dist);\n"
+	"    gl_PointSize = instance_scale_obUid.x * pointRadius * (screenWidth / dist);\n"
 	"	gl_Position = vertexPos;\n"
 	"	\n"
 	"	fragment.color = instance_color;\n"

examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.glsl

@@ -8,7 +8,7 @@ layout (location = 2) in vec4 instance_quaternion;
 layout (location = 3) in vec2 uvcoords;
 layout (location = 4) in vec3 vertexnormal;
 layout (location = 5) in vec4 instance_color;
-layout (location = 6) in vec3 instance_scale;
+layout (location = 6) in vec4 instance_scale_obUid;
 
 
 uniform mat4 TextureMVP;
@@ -86,7 +86,7 @@ void main(void)
 	lightSpecularIntensity = lightSpecularIntensityIn;
 	materialSpecularColor = materialSpecularColorIn;
 	
-	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);
+	vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);
 	vertexPos = vec4((instance_position+localcoord).xyz,1);
 	
 	vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);

examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.h

@@ -8,7 +8,7 @@ static const char* projectiveTextureInstancingVertexShader =
 	"layout (location = 3) in vec2 uvcoords;\n"
 	"layout (location = 4) in vec3 vertexnormal;\n"
 	"layout (location = 5) in vec4 instance_color;\n"
-	"layout (location = 6) in vec3 instance_scale;\n"
+	"layout (location = 6) in vec4 instance_scale_obUid;\n"
 	"uniform mat4 TextureMVP;\n"
 	"uniform mat4 MVP;\n"
 	"uniform vec3 lightPosIn;\n"
@@ -74,7 +74,7 @@ static const char* projectiveTextureInstancingVertexShader =
 	"	lightSpecularIntensity = lightSpecularIntensityIn;\n"
 	"	materialSpecularColor = materialSpecularColorIn;\n"
 	"	\n"
-	"	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);\n"
+	"	vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);\n"
 	"	vertexPos = vec4((instance_position+localcoord).xyz,1);\n"
 	"	\n"
 	"	vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);\n"

examples/OpenGLWindow/Shaders/segmentationMaskInstancingPS.glsl

@@ -0,0 +1,16 @@
+#version 330
+precision highp float;
+in vec4 scale_obuid;
+out vec4 color;
+
+
+
+void main(void)
+{
+	highp int obuid = int(scale_obuid.w);
+	float r = 1*1.f/255.f;//((obuid>>0 )&0xff)*(1./255.f);
+	float g = ((obuid>>8 )&0xff)*(1./255.f);
+	float b = ((obuid>>16)&0xff)*(1./255.f);
+	float a = ((obuid>>24)&0xff)*(1./255.f);
+	color  = vec4(r,g,b,a);
+}

examples/OpenGLWindow/Shaders/segmentationMaskInstancingPS.h

@@ -0,0 +1,15 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* segmentationMaskInstancingFragmentShader =
+	"#version 330\n"
+	"precision highp float;\n"
+	"in vec4 scale_obuid;\n"
+	"out vec4 color;\n"
+	"void main(void)\n"
+	"{\n"
+	"	highp int obuid = int(scale_obuid.w);\n"
+	"	float r = ((obuid>>0 )&0xff)*(1./255.f);\n"
+	"	float g = ((obuid>>8 )&0xff)*(1./255.f);\n"
+	"	float b = ((obuid>>16)&0xff)*(1./255.f);\n"
+	"	float a = ((obuid>>24)&0xff)*(1./255.f);\n"
+	"	color  = vec4(r,g,b,a);\n"
+	"}\n";

examples/OpenGLWindow/Shaders/segmentationMaskInstancingVS.glsl

@@ -0,0 +1,61 @@
+#version 330
+precision highp float;
+
+
+layout (location = 0) in vec4 position;
+layout (location = 1) in vec4 instance_position;
+layout (location = 2) in vec4 instance_quaternion;
+layout (location = 5) in vec4 instance_color;
+layout (location = 6) in vec4 instance_scale_obUid;
+
+uniform mat4 ModelViewMatrix;
+uniform mat4 ProjectionMatrix;
+
+out vec4 scale_obuid;
+
+out Fragment
+{
+     vec4 color;
+} fragment;
+
+vec4 quatMul ( in vec4 q1, in vec4 q2 )
+{
+    vec3  im = q1.w * q2.xyz + q1.xyz * q2.w + cross ( q1.xyz, q2.xyz );
+    vec4  dt = q1 * q2;
+    float re = dot ( dt, vec4 ( -1.0, -1.0, -1.0, 1.0 ) );
+    return vec4 ( im, re );
+}
+
+vec4 quatFromAxisAngle(vec4 axis, in float angle)
+{
+    float cah = cos(angle*0.5);
+    float sah = sin(angle*0.5);
+	float d = inversesqrt(dot(axis,axis));
+	vec4 q = vec4(axis.x*sah*d,axis.y*sah*d,axis.z*sah*d,cah);
+	return q;
+}
+//
+// vector rotation via quaternion
+//
+vec4 quatRotate3 ( in vec3 p, in vec4 q )
+{
+    vec4 temp = quatMul ( q, vec4 ( p, 0.0 ) );
+    return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );
+}
+vec4 quatRotate ( in vec4 p, in vec4 q )
+{
+    vec4 temp = quatMul ( q, p );
+    return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );
+}
+
+
+void main(void)
+{
+	vec4 q = instance_quaternion;
+	vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);
+	vec4 vertexPos = ProjectionMatrix * ModelViewMatrix *(instance_position+localcoord);
+	scale_obuid = instance_scale_obUid;
+	gl_Position = vertexPos;
+	fragment.color = instance_color;
+}
+

examples/OpenGLWindow/Shaders/segmentationMaskInstancingVS.h

@@ -0,0 +1,53 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* segmentationMaskInstancingVertexShader =
+	"#version 330\n"
+	"precision highp float;\n"
+	"layout (location = 0) in vec4 position;\n"
+	"layout (location = 1) in vec4 instance_position;\n"
+	"layout (location = 2) in vec4 instance_quaternion;\n"
+	"layout (location = 5) in vec4 instance_color;\n"
+	"layout (location = 6) in vec4 instance_scale_obUid;\n"
+	"uniform mat4 ModelViewMatrix;\n"
+	"uniform mat4 ProjectionMatrix;\n"
+	"out vec4 scale_obuid;\n"
+	"out Fragment\n"
+	"{\n"
+	"     vec4 color;\n"
+	"} fragment;\n"
+	"vec4 quatMul ( in vec4 q1, in vec4 q2 )\n"
+	"{\n"
+	"    vec3  im = q1.w * q2.xyz + q1.xyz * q2.w + cross ( q1.xyz, q2.xyz );\n"
+	"    vec4  dt = q1 * q2;\n"
+	"    float re = dot ( dt, vec4 ( -1.0, -1.0, -1.0, 1.0 ) );\n"
+	"    return vec4 ( im, re );\n"
+	"}\n"
+	"vec4 quatFromAxisAngle(vec4 axis, in float angle)\n"
+	"{\n"
+	"    float cah = cos(angle*0.5);\n"
+	"    float sah = sin(angle*0.5);\n"
+	"	float d = inversesqrt(dot(axis,axis));\n"
+	"	vec4 q = vec4(axis.x*sah*d,axis.y*sah*d,axis.z*sah*d,cah);\n"
+	"	return q;\n"
+	"}\n"
+	"//\n"
+	"// vector rotation via quaternion\n"
+	"//\n"
+	"vec4 quatRotate3 ( in vec3 p, in vec4 q )\n"
+	"{\n"
+	"    vec4 temp = quatMul ( q, vec4 ( p, 0.0 ) );\n"
+	"    return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );\n"
+	"}\n"
+	"vec4 quatRotate ( in vec4 p, in vec4 q )\n"
+	"{\n"
+	"    vec4 temp = quatMul ( q, p );\n"
+	"    return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );\n"
+	"}\n"
+	"void main(void)\n"
+	"{\n"
+	"	vec4 q = instance_quaternion;\n"
+	"	vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);\n"
+	"	vec4 vertexPos = ProjectionMatrix * ModelViewMatrix *(instance_position+localcoord);\n"
+	"	scale_obuid = instance_scale_obUid;\n"
+	"	gl_Position = vertexPos;\n"
+	"	fragment.color = instance_color;\n"
+	"}\n";

examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl

@@ -8,7 +8,7 @@ layout (location = 2) in vec4 instance_quaternion;
 layout (location = 3) in vec2 uvcoords;
 layout (location = 4) in vec3 vertexnormal;
 layout (location = 5) in vec4 instance_color;
-layout (location = 6) in vec3 instance_scale;
+layout (location = 6) in vec4 instance_scale_obUid;
 
 
 uniform mat4 ModelViewMatrix;
@@ -88,7 +88,7 @@ void main(void)
 	lightSpecularIntensity = lightSpecularIntensityIn;
 	materialSpecularColor = materialSpecularColorIn;
 	
-	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);
+	vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);
 	vertexPos = vec4((instance_position+localcoord).xyz,1);
 	
 	vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);

examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h

@@ -8,7 +8,7 @@ static const char* useShadowMapInstancingVertexShader =
 	"layout (location = 3) in vec2 uvcoords;\n"
 	"layout (location = 4) in vec3 vertexnormal;\n"
 	"layout (location = 5) in vec4 instance_color;\n"
-	"layout (location = 6) in vec3 instance_scale;\n"
+	"layout (location = 6) in vec4 instance_scale_obUid;\n"
 	"uniform mat4 ModelViewMatrix;\n"
 	"uniform mat4 ProjectionMatrix;\n"
 	"uniform mat4 DepthBiasModelViewProjectionMatrix;\n"
@@ -76,7 +76,7 @@ static const char* useShadowMapInstancingVertexShader =
 	"	lightSpecularIntensity = lightSpecularIntensityIn;\n"
 	"	materialSpecularColor = materialSpecularColorIn;\n"
 	"	\n"
-	"	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);\n"
+	"	vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);\n"
 	"	vertexPos = vec4((instance_position+localcoord).xyz,1);\n"
 	"	\n"
 	"	vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);\n"