Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add pybullet getCameraImage, replacing renderImage, cleaner API:

Browse Source 
always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir
added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV
see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use
add missing base_link.stl for husky.urdf
This commit is contained in:
erwincoumans
2016-11-17 15:15:52 -08:00
parent ee7a5a470f
commit 8c69fa13ca
11 changed files with 664 additions and 261 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -73,14 +73,17 @@ struct TinyRendererVisualShapeConverterInternalData
b3AlignedObjectArray<MyTexture2> m_textures;
b3AlignedObjectArray<float> m_depthBuffer;
b3AlignedObjectArray<int> m_segmentationMaskBuffer;
btVector3 m_lightDirection;
bool m_hasLightDirection;
SimpleCamera m_camera;
TinyRendererVisualShapeConverterInternalData()
:m_upAxis(2),
m_swWidth(START_WIDTH),
m_swHeight(START_HEIGHT),
m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB)
m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB),
m_hasLightDirection(false)
{
m_depthBuffer.resize(m_swWidth*m_swHeight);
m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1);
@@ -108,7 +111,11 @@ TinyRendererVisualShapeConverter::~TinyRendererVisualShapeConverter()
delete m_data;
}
void TinyRendererVisualShapeConverter::setLightDirection(float x, float y, float z)
{
m_data->m_lightDirection.setValue(x, y, z);
m_data->m_hasLightDirection = true;
}
void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut)
@@ -677,16 +684,23 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
btVector3 lightDirWorld(-5,200,-40);
switch (m_data->m_upAxis)
{
case 1:
lightDirWorld = btVector3(-50.f,100,30);
break;
case 2:
lightDirWorld = btVector3(-50.f,30,100);
break;
default:{}
};
if (m_data->m_hasLightDirection)
{
lightDirWorld = m_data->m_lightDirection;
}
else
{
switch (m_data->m_upAxis)
{
case 1:
lightDirWorld = btVector3(-50.f, 100, 30);
break;
case 2:
lightDirWorld = btVector3(-50.f, 30, 100);
break;
default: {}
};
}
lightDirWorld.normalize();