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

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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
This commit is contained in:
erwincoumans
2018-09-30 07:10:40 -07:00
parent 254edb61cb
commit 5bcd43711a
32 changed files with 746 additions and 189 deletions
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4
examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl
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@@ -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;
}