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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.h
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@@ -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";