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pybullet expose resetDebugVisualizerCamera

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example: pybullet.resetDebugVisualizerCamera(cameraDistance=3,cameraYaw=30,cameraPitch=52,cameraTargetPosition=[0,0,0])
This commit is contained in:
Erwin Coumans
2017-03-01 15:04:07 -08:00
parent 2f3ba49357
commit 6a40c1cca7
2 changed files with 44 additions and 2 deletions
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2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -4,7 +4,7 @@
#define SHARED_MEMORY_KEY 12347 #define SHARED_MEMORY_KEY 12347
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures ///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev ///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201702220 #define SHARED_MEMORY_MAGIC_NUMBER 201703010
enum EnumSharedMemoryClientCommand enum EnumSharedMemoryClientCommand
{ {

44
examples/pybullet/pybullet.c
View File

@@ -3007,6 +3007,43 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
} }
static PyObject* pybullet_resetDebugVisualizerCamera(PyObject* self, PyObject* args, PyObject *keywds)
{
float cameraDistance = -1;
float cameraYaw = -1;
float cameraPitch = -1;
PyObject* cameraTargetPosObj=0;
int physicsClientId = 0;
b3PhysicsClientHandle sm=0;
static char *kwlist[] = {"cameraDistance", "cameraYaw", "cameraPitch", "cameraTargetPosition", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "fffO|i", kwlist,
&cameraDistance, &cameraYaw, &cameraPitch, &cameraTargetPosObj, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(sm);
if ((cameraDistance>=0) && (cameraYaw>=0) && (cameraPitch>=0))
{
float cameraTargetPosition[3];
if (pybullet_internalSetVector(cameraTargetPosObj,cameraTargetPosition))
{
b3ConfigureOpenGLVisualizerSetViewMatrix(commandHandle,cameraDistance,cameraPitch, cameraYaw, cameraTargetPosition);
}
}
b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_setDebugObjectColor(PyObject* self, PyObject* args, PyObject *keywds) static PyObject* pybullet_setDebugObjectColor(PyObject* self, PyObject* args, PyObject *keywds)
{ {
@@ -5101,9 +5138,14 @@ static PyMethodDef SpamMethods[] = {
}, },
{ "configureDebugVisualizer", (PyCFunction)pybullet_configureDebugVisualizer, METH_VARARGS | METH_KEYWORDS, { "configureDebugVisualizer", (PyCFunction)pybullet_configureDebugVisualizer, METH_VARARGS | METH_KEYWORDS,
"For the 3D OpenGL Visualizer, enable/disable GUI, shadows. Set the camera parameters." "For the 3D OpenGL Visualizer, enable/disable GUI, shadows."
}, },
{ "resetDebugVisualizerCamera", (PyCFunction)pybullet_resetDebugVisualizerCamera, METH_VARARGS | METH_KEYWORDS,
"For the 3D OpenGL Visualizer, set the camera distance, yaw, pitch and target position."
},
{"getVisualShapeData", (PyCFunction)pybullet_getVisualShapeData, METH_VARARGS| METH_KEYWORDS, {"getVisualShapeData", (PyCFunction)pybullet_getVisualShapeData, METH_VARARGS| METH_KEYWORDS,
"Return the visual shape information for one object." }, "Return the visual shape information for one object." },