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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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15
examples/OpenGLWindow/Shaders/segmentationMaskInstancingPS.h Normal file
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//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";