Merge branch 'master' of https://github.com/erwincoumans/bullet3

2017-05-17 21:22:30 -07:00
parent ba6652b73a f5d7aac5cc
commit 88e81d6712
13 changed files with 204 additions and 39 deletions
--- a/docs/pybullet_quickstartguide.pdf
+++ b/docs/pybullet_quickstartguide.pdf
--- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
@@ -7,7 +7,7 @@
 #include "../../Utils/b3ResourcePath.h"
 #include "Bullet3Common/b3FileUtils.h"
 #include "../../ThirdPartyLibs/stb_image/stb_image.h"
-
+#include "../ImportObjDemo/LoadMeshFromObj.h"
 bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
 {
 	B3_PROFILE("loadAndRegisterMeshFromFileInternal");
@@ -28,7 +28,8 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 		std::vector<tinyobj::shape_t> shapes;
 		{
 			B3_PROFILE("tinyobj::LoadObj");
-			std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
+			std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, pathPrefix);
+			//std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
 		}
 		
 		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
--- a/examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
+++ b/examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
@@ -1,11 +1,56 @@
 #include "LoadMeshFromObj.h"
-#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
+
 #include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
 #include <stdio.h> //fopen
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include <string>
 #include <vector>
 #include "Wavefront2GLInstanceGraphicsShape.h"
+#include "Bullet3Common/b3HashMap.h"
+
+struct CachedObjResult
+{
+	std::string m_msg;
+	std::vector<tinyobj::shape_t> m_shapes;
+};
+
+static b3HashMap<b3HashString, CachedObjResult> gCachedObjResults;
+static int gEnableFileCaching = 1;
+
+void b3EnableFileCaching(int enable)
+{
+	gEnableFileCaching  = enable;
+	if (enable==0)
+	{
+		gCachedObjResults.clear();
+	}
+}
+
+
+std::string LoadFromCachedOrFromObj(
+    std::vector<tinyobj::shape_t>& shapes,   // [output]
+    const char* filename,
+    const char* mtl_basepath)
+{
+	CachedObjResult* resultPtr = gCachedObjResults[filename];
+	if (resultPtr)
+	{
+		const CachedObjResult& result = *resultPtr;
+		shapes = result.m_shapes;
+		return result.m_msg;
+	}
+
+	std::string err = tinyobj::LoadObj(shapes, filename, mtl_basepath);
+	CachedObjResult result;
+	result.m_msg = err;
+	result.m_shapes = shapes;
+	if (gEnableFileCaching)
+	{
+		gCachedObjResults.insert(filename,result);
+	}
+	return err;
+}
+

 GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath)
 {
@@ -13,7 +58,7 @@ GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const cha
 	std::vector<tinyobj::shape_t> shapes;
 	{
 		B3_PROFILE("tinyobj::LoadObj2");
-		std::string err = tinyobj::LoadObj(shapes, relativeFileName, materialPrefixPath);
+		std::string  err  = LoadFromCachedOrFromObj(shapes, relativeFileName, materialPrefixPath);
 	}

 	{
--- a/examples/Importers/ImportObjDemo/LoadMeshFromObj.h
+++ b/examples/Importers/ImportObjDemo/LoadMeshFromObj.h
@@ -4,6 +4,14 @@

 struct GLInstanceGraphicsShape;

+#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
+
+void b3EnableFileCaching(int enable);
+
+std::string LoadFromCachedOrFromObj(
+    std::vector<tinyobj::shape_t>& shapes,   // [output]
+    const char* filename,
+    const char* mtl_basepath);

 GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath);

--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -634,8 +634,15 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 		case UrdfGeometry::FILE_OBJ:
 			if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
 			{
-				
-				glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), 0);
+				char relativeFileName[1024];
+				char pathPrefix[1024];
+				pathPrefix[0] = 0;
+				if (b3ResourcePath::findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
+				{
+
+					b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
+				}
+				glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), pathPrefix);
 			}
 			else
 			{
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -381,6 +381,17 @@ int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHan

 }

+int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle, int enableFileCaching)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+
+	command->m_physSimParamArgs.m_enableFileCaching= enableFileCaching;
+	command->m_updateFlags |= SIM_PARAM_ENABLE_FILE_CACHING ;
+	return 0;
+
+}
+
 int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1785,7 +1796,10 @@ void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandl
    b3Assert(command);
    b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
    b3Assert(renderer>(1<<15));
-    command->m_updateFlags |= renderer;
+	if (renderer>(1<<15))
+	{
+	    command->m_updateFlags |= renderer;
+	}
 }

 void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[16], float projectionMatrix[16])
@@ -2712,6 +2726,8 @@ int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, doub
 	command->m_vrCameraStateArguments.m_rootOrientation[0] = rootOrn[0];
 	command->m_vrCameraStateArguments.m_rootOrientation[1] = rootOrn[1];
 	command->m_vrCameraStateArguments.m_rootOrientation[2] = rootOrn[2];
+	command->m_vrCameraStateArguments.m_rootOrientation[3] = rootOrn[3];
+
 	return 0;
 }

@@ -2725,6 +2741,15 @@ int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int o
 	return 0;
 }

+int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_SET_VR_CAMERA_STATE);
+    command->m_updateFlags |= VR_CAMERA_FLAG;
+	command->m_vrCameraStateArguments.m_trackingObjectFlag = flag;
+	return 0;
+}


 b3SharedMemoryCommandHandle	b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle physClient)
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -215,6 +215,7 @@ int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle,
 int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);
 int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryCommandHandle commandHandle, double contactBreakingThreshold);
 int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms);
+int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle, int enableFileCaching);

 //b3PhysicsParamSetInternalSimFlags is for internal/temporary/easter-egg/experimental demo purposes
 //Use at own risk: magic things may or my not happen when calling this API
@@ -376,6 +377,7 @@ b3SharedMemoryCommandHandle	b3SetVRCameraStateCommandInit(b3PhysicsClientHandle
 int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[3]);
 int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[4]);
 int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);
+int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag);

 b3SharedMemoryCommandHandle	b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle physClient);
 void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3KeyboardEventsData* keyboardEventsData);
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -22,6 +22,7 @@
 #include "../Utils/RobotLoggingUtil.h"
 #include "LinearMath/btTransform.h"
 #include "../Importers/ImportMJCFDemo/BulletMJCFImporter.h"
+#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
 #include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
 #include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
 #include "LinearMath/btSerializer.h"
@@ -54,6 +55,8 @@ bool gCreateDefaultRobotAssets = false;
 int gInternalSimFlags = 0;
 bool gResetSimulation = 0;
 int gVRTrackingObjectUniqueId = -1;
+int gVRTrackingObjectFlag = VR_CAMERA_TRACK_OBJECT_ORIENTATION;
+
 btTransform gVRTrackingObjectTr = btTransform::getIdentity();

 int gMaxNumCmdPer1ms = -1;//experiment: add some delay to avoid threads starving other threads
@@ -2440,6 +2443,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					{
 						if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_profileTimingLoggingUid)
 						{
+							serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
 							b3ChromeUtilsStopTimingsAndWriteJsonFile(m_data->m_profileTimingFileName.c_str());
 							m_data->m_profileTimingLoggingUid = -1;
 						}
@@ -2482,6 +2486,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						gVRTrackingObjectUniqueId = clientCmd.m_vrCameraStateArguments.m_trackingObjectUniqueId;
 					}

+					if (clientCmd.m_updateFlags & VR_CAMERA_FLAG)
+					{
+						gVRTrackingObjectFlag = clientCmd.m_vrCameraStateArguments.m_trackingObjectFlag;
+					}
+
 					serverStatusOut.m_type  = CMD_CLIENT_COMMAND_COMPLETED;
 					hasStatus = true;
 					break;
@@ -4059,6 +4068,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                        m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = clientCmd.m_physSimParamArgs.m_defaultContactERP;
                    }

+					if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_FILE_CACHING)
+                    {
+						b3EnableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching);
+                    }
+
+
 					SharedMemoryStatus& serverCmd =serverStatusOut;
 					serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
 					hasStatus = true;
@@ -6189,6 +6204,24 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,	const
 		gResetSimulation = false;
 	}

+	if (gVRTrackingObjectUniqueId >= 0)
+	{
+		InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(gVRTrackingObjectUniqueId);
+		if (bodyHandle && bodyHandle->m_multiBody)
+		{
+//			gVRTrackingObjectTr  = bodyHandle->m_multiBody->getBaseWorldTransform();
+
+			if (gVRTrackingObjectUniqueId>=0)
+			{
+				gVRTrackingObjectTr.setOrigin(bodyHandle->m_multiBody->getBaseWorldTransform().getOrigin());
+			}
+			if (gVRTrackingObjectFlag&VR_CAMERA_TRACK_OBJECT_ORIENTATION)
+			{
+				gVRTrackingObjectTr.setBasis(bodyHandle->m_multiBody->getBaseWorldTransform().getBasis());
+			}	
+		}
+	}
+
 	if ((m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
 	{
 		
@@ -6208,14 +6241,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,	const
 			gSubStep = m_data->m_physicsDeltaTime;
 		}
 		
-		if (gVRTrackingObjectUniqueId >= 0)
-		{
-			InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(gVRTrackingObjectUniqueId);
-			if (bodyHandle && bodyHandle->m_multiBody)
-			{
-				gVRTrackingObjectTr  = bodyHandle->m_multiBody->getBaseWorldTransform();
-			}
-		}
+		


 		int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec*simTimeScalingFactor,maxSteps, gSubStep);
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -353,6 +353,8 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_UPDATE_COLLISION_FILTER_MODE=512,
 	SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1024,
 	SIM_PARAM_MAX_CMD_PER_1MS = 2048,
+	SIM_PARAM_ENABLE_FILE_CACHING = 4096,
+
 };

 enum EnumLoadBunnyUpdateFlags
@@ -384,6 +386,7 @@ struct SendPhysicsSimulationParameters
 	int m_internalSimFlags;
 	double m_defaultContactERP;
 	int m_collisionFilterMode;
+	int m_enableFileCaching;
 };

 struct LoadBunnyArgs
@@ -675,7 +678,8 @@ enum eVRCameraEnums
 {
 	VR_CAMERA_ROOT_POSITION=1,
 	VR_CAMERA_ROOT_ORIENTATION=2,
-	VR_CAMERA_ROOT_TRACKING_OBJECT=4
+	VR_CAMERA_ROOT_TRACKING_OBJECT=4,
+	VR_CAMERA_FLAG = 8,
 };

 enum eStateLoggingEnums
@@ -696,6 +700,7 @@ struct VRCameraState
 	double m_rootPosition[3];
 	double m_rootOrientation[4];
 	int m_trackingObjectUniqueId;
+	int m_trackingObjectFlag;
 };


--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -320,6 +320,11 @@ enum eVRDeviceTypeEnums
 	VR_DEVICE_GENERIC_TRACKER=4,
 };

+enum EVRCameraFlags
+{
+	VR_CAMERA_TRACK_OBJECT_ORIENTATION=1,
+};
+
 struct b3VRControllerEvent
 {
 	int m_controllerId;//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
--- a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+++ b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
@@ -560,9 +560,12 @@ LoadObj(

  int maxchars = 8192;  // Alloc enough size.
  std::vector<char> buf(maxchars);  // Alloc enough size.
+  std::string linebuf;
+  linebuf.reserve(maxchars);
+
  while (ifs.peek() != -1) {

-    std::string linebuf;
+	linebuf.resize(0);
    safeGetline(ifs,linebuf);

    // Trim newline '\r\n' or '\r'
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -95,6 +95,9 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16])
 	int i, len;
 	PyObject* seq;

+	if (objMat==NULL)
+		return 0;
+
 	seq = PySequence_Fast(objMat, "expected a sequence");
 	if (seq)
 	{
@@ -123,6 +126,7 @@ static int pybullet_internalSetVector(PyObject* objVec, float vector[3])
 {
 	int i, len;
 	PyObject* seq = 0;
+
 	if (objVec == NULL)
 		return 0;

@@ -720,13 +724,15 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 	int collisionFilterMode = -1;
 	double contactBreakingThreshold = -1;
 	int maxNumCmdPer1ms = -2;
+	int enableFileCaching = -1;
+
 	b3PhysicsClientHandle sm = 0;

 	int physicsClientId = 0;
-	static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "physicsClientId", NULL};
+	static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","physicsClientId", NULL};

-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
-									 &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
+									 &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -777,6 +783,11 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 			b3PhysicsParamSetMaxNumCommandsPer1ms(command, maxNumCmdPer1ms);
 		}

+		if (enableFileCaching>=0)
+		{
+			b3PhysicsParamSetEnableFileCaching(command, enableFileCaching);
+		}
+
 		//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);

 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -3699,11 +3710,12 @@ static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObj
 	PyObject* rootPosObj = 0;
 	PyObject* rootOrnObj = 0;
 	int trackObjectUid = -2;
+	int trackObjectFlag = -1;
 	double rootPos[3];
 	double rootOrn[4];

-	static char* kwlist[] = {"rootPosition", "rootOrientation", "trackObject", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|OOii", kwlist, &rootPosObj, &rootOrnObj, &trackObjectUid, &physicsClientId))
+	static char* kwlist[] = {"rootPosition", "rootOrientation", "trackObject", "trackObjectFlag","physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|OOiii", kwlist, &rootPosObj, &rootOrnObj, &trackObjectUid,&trackObjectFlag,  &physicsClientId))
 	{
 		return NULL;
 	}
@@ -3730,6 +3742,11 @@ static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObj
 		b3SetVRCameraTrackingObject(commandHandle, trackObjectUid);
 	}

+	if (trackObjectFlag>=-1)
+	{
+		b3SetVRCameraTrackingObjectFlag(commandHandle, trackObjectFlag);
+	}
+
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	statusType = b3GetStatusType(statusHandle);

@@ -4543,7 +4560,7 @@ static PyObject* pybullet_enableJointForceTorqueSensor(PyObject* self, PyObject*
 	b3PhysicsClientHandle sm = 0;
 	int numJoints = -1;

-	static char* kwlist[] = {"bodyUniqueId", "jointIndex", "enableSensor", "physicsClientId"};
+	static char* kwlist[] = {"bodyUniqueId", "jointIndex", "enableSensor", "physicsClientId",NULL};

 	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ii", kwlist, &bodyUniqueId, &jointIndex, &enableSensor, &physicsClientId))
 	{
@@ -4755,12 +4772,13 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	float projectionMatrix[16];
 	float lightDir[3];
 	float lightColor[3];
-	float lightDist = 10.0;
-	int hasShadow = 0;
-	float lightAmbientCoeff = 0.6;
-	float lightDiffuseCoeff = 0.35;
-	float lightSpecularCoeff = 0.05;
-	int renderer = 0;
+	float lightDist = -1;
+	int hasShadow = -1;
+	float lightAmbientCoeff = -1;
+	float lightDiffuseCoeff = -1;
+	float lightSpecularCoeff = -1;
+
+	int renderer = -1;
 	// inialize cmd
 	b3SharedMemoryCommandHandle command;
 	int physicsClientId = 0;
@@ -4783,12 +4801,12 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	b3RequestCameraImageSetPixelResolution(command, width, height);

 	// set camera matrices only if set matrix function succeeds
-	if (pybullet_internalSetMatrix(objViewMat, viewMatrix) && (pybullet_internalSetMatrix(objProjMat, projectionMatrix)))
+	if (objViewMat && objProjMat && pybullet_internalSetMatrix(objViewMat, viewMatrix) && (pybullet_internalSetMatrix(objProjMat, projectionMatrix)))
 	{
 		b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix);
 	}
 	//set light direction only if function succeeds
-	if (pybullet_internalSetVector(lightDirObj, lightDir))
+	if (lightDirObj && pybullet_internalSetVector(lightDirObj, lightDir))
 	{
 		b3RequestCameraImageSetLightDirection(command, lightDir);
 	}
@@ -4797,16 +4815,34 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	{
 		b3RequestCameraImageSetLightColor(command, lightColor);
 	}
+	if (lightDist>=0)
+	{
+		b3RequestCameraImageSetLightDistance(command, lightDist);
+	}

-	b3RequestCameraImageSetLightDistance(command, lightDist);
+	if (hasShadow>=0)
+	{
+		b3RequestCameraImageSetShadow(command, hasShadow);
+	}
+	if (lightAmbientCoeff>=0)
+	{
+		b3RequestCameraImageSetLightAmbientCoeff(command, lightAmbientCoeff);
+	}
+	if (lightDiffuseCoeff>=0)
+	{
+		b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
+	}

-	b3RequestCameraImageSetShadow(command, hasShadow);
+	if (lightSpecularCoeff>=0)
+	{
+		b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
+	}

-	b3RequestCameraImageSetLightAmbientCoeff(command, lightAmbientCoeff);
-	b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
-	b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
-
-	b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
+	if (renderer>=0)
+	{
+		b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
+	}
+		//PyErr_Clear();

 	if (b3CanSubmitCommand(sm))
 	{
@@ -6332,6 +6368,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "VR_DEVICE_HMD", VR_DEVICE_HMD);
 	PyModule_AddIntConstant(m, "VR_DEVICE_GENERIC_TRACKER", VR_DEVICE_GENERIC_TRACKER);

+	PyModule_AddIntConstant(m, "VR_CAMERA_TRACK_OBJECT_ORIENTATION", VR_CAMERA_TRACK_OBJECT_ORIENTATION);
+
 	PyModule_AddIntConstant(m, "KEY_IS_DOWN", eButtonIsDown);
 	PyModule_AddIntConstant(m, "KEY_WAS_TRIGGERED", eButtonTriggered);
 	PyModule_AddIntConstant(m, "KEY_WAS_RELEASED", eButtonReleased);
--- a/setup.py
+++ b/setup.py
@@ -417,7 +417,7 @@ else:

 setup(
 	name = 'pybullet',
-	version='1.0.4',
+	version='1.0.6',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',