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add missing implementation of b3RobotSimulatorClientAPI_NoGUI::getCameraImage

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Fixes Issue 1602
This commit is contained in:
erwincoumans
2018-03-14 17:33:51 -07:00
parent 282458684f
commit 90b6befe3d
1 changed files with 66 additions and 0 deletions
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66
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
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@@ -1106,6 +1106,72 @@ void b3RobotSimulatorClientAPI_NoGUI::getMouseEvents(b3MouseEventsData* mouseEve
}
bool b3RobotSimulatorClientAPI_NoGUI::getCameraImage(int width, int height, struct b3RobotSimulatorGetCameraImageArgs args, struct b3CameraImageData &imageData)
{
if (!isConnected()) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
command = b3InitRequestCameraImage(m_data->m_physicsClientHandle);
b3RequestCameraImageSetPixelResolution(command, width, height);
// Check and apply optional arguments
if (args.m_viewMatrix && args.m_projectionMatrix) {
b3RequestCameraImageSetCameraMatrices(command, args.m_viewMatrix, args.m_projectionMatrix);
}
if (args.m_lightDirection != NULL) {
b3RequestCameraImageSetLightDirection(command, args.m_lightDirection);
}
if (args.m_lightColor != NULL) {
b3RequestCameraImageSetLightColor(command, args.m_lightColor);
}
if (args.m_lightDistance>=0) {
b3RequestCameraImageSetLightDistance(command, args.m_lightDistance);
}
if (args.m_hasShadow>=0) {
b3RequestCameraImageSetShadow(command, args.m_hasShadow);
}
if (args.m_lightAmbientCoeff>=0) {
b3RequestCameraImageSetLightAmbientCoeff(command, args.m_lightAmbientCoeff);
}
if (args.m_lightDiffuseCoeff>=0) {
b3RequestCameraImageSetLightDiffuseCoeff(command, args.m_lightDiffuseCoeff);
}
if (args.m_lightSpecularCoeff>=0) {
b3RequestCameraImageSetLightSpecularCoeff(command, args.m_lightSpecularCoeff);
}
if (args.m_renderer>=0) {
b3RequestCameraImageSelectRenderer(command, args.m_renderer);
}
// Actually retrieve the image
if (b3CanSubmitCommand(m_data->m_physicsClientHandle)) {
b3SharedMemoryStatusHandle statusHandle;
int statusType;
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CAMERA_IMAGE_COMPLETED) {
b3GetCameraImageData(m_data->m_physicsClientHandle, &imageData);
}
} else {
return false;
}
return true;
}
bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseDynamics(int bodyUniqueId, double *jointPositions, double *jointVelocities,
double *jointAccelerations, double *jointForcesOutput)
{