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Only initialized values if provided (and don't initialize default if not provided!)

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fixes getCameraImage(width,height) crash
This commit is contained in:
Erwin Coumans
2017-05-17 17:25:34 -07:00
parent 9c4a5f9336
commit 972660f825
1 changed files with 38 additions and 15 deletions
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53
examples/pybullet/pybullet.c
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@@ -95,6 +95,9 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16])
int i, len; int i, len;
PyObject* seq; PyObject* seq;
if (objMat==NULL)
return 0;
seq = PySequence_Fast(objMat, "expected a sequence"); seq = PySequence_Fast(objMat, "expected a sequence");
if (seq) if (seq)
{ {
@@ -123,6 +126,7 @@ static int pybullet_internalSetVector(PyObject* objVec, float vector[3])
{ {
int i, len; int i, len;
PyObject* seq = 0; PyObject* seq = 0;
if (objVec == NULL) if (objVec == NULL)
return 0; return 0;
@@ -4755,12 +4759,13 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
float projectionMatrix[16]; float projectionMatrix[16];
float lightDir[3]; float lightDir[3];
float lightColor[3]; float lightColor[3];
float lightDist = 10.0; float lightDist = -1;
int hasShadow = 0; int hasShadow = -1;
float lightAmbientCoeff = 0.6; float lightAmbientCoeff = -1;
float lightDiffuseCoeff = 0.35; float lightDiffuseCoeff = -1;
float lightSpecularCoeff = 0.05; float lightSpecularCoeff = -1;
int renderer = 0;
int renderer = -1;
// inialize cmd // inialize cmd
b3SharedMemoryCommandHandle command; b3SharedMemoryCommandHandle command;
int physicsClientId = 0; int physicsClientId = 0;
@@ -4783,12 +4788,12 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetPixelResolution(command, width, height); b3RequestCameraImageSetPixelResolution(command, width, height);
// set camera matrices only if set matrix function succeeds // 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); b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix);
} }
//set light direction only if function succeeds //set light direction only if function succeeds
if (pybullet_internalSetVector(lightDirObj, lightDir)) if (lightDirObj && pybullet_internalSetVector(lightDirObj, lightDir))
{ {
b3RequestCameraImageSetLightDirection(command, lightDir); b3RequestCameraImageSetLightDirection(command, lightDir);
} }
@@ -4797,16 +4802,34 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
{ {
b3RequestCameraImageSetLightColor(command, lightColor); 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); if (renderer>=0)
b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff); {
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff); b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
}
b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL //PyErr_Clear();
if (b3CanSubmitCommand(sm)) if (b3CanSubmitCommand(sm))
{ {