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Add pybullet API for changing ambient, diffuse, and specular coefficients.

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This commit is contained in:
yunfeibai
2016-12-06 15:38:09 -08:00
parent c253c750b9
commit 9cd27b8456
1 changed files with 11 additions and 4 deletions
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15
examples/pybullet/pybullet.c
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@@ -2582,7 +2582,7 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
/// Render an image from the current timestep of the simulation, width, height are required, other args are optional /// Render an image from the current timestep of the simulation, width, height are required, other args are optional
// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3], lightDist, hasShadow) // getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3], lightDist, hasShadow, lightAmbientCoeff, lightDiffuseCoeff, lightSpecularCoeff)
static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds) static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds)
{ {
/// request an image from a simulated camera, using a software renderer. /// request an image from a simulated camera, using a software renderer.
@@ -2596,6 +2596,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
float lightColor[3]; float lightColor[3];
float lightDist = 10.0; float lightDist = 10.0;
int hasShadow = 0; int hasShadow = 0;
float lightAmbientCoeff = 0.6;
float lightDiffuseCoeff = 0.35;
float lightSpecularCoeff = 0.05;
// inialize cmd // inialize cmd
b3SharedMemoryCommandHandle command; b3SharedMemoryCommandHandle command;
@@ -2608,9 +2611,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
command = b3InitRequestCameraImage(sm); command = b3InitRequestCameraImage(sm);
// set camera resolution, optionally view, projection matrix, light direction, light color, light distance, shadow // set camera resolution, optionally view, projection matrix, light direction, light color, light distance, shadow
static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", NULL }; static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfi", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifff", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff))
{ {
return NULL; return NULL;
} }
@@ -2635,6 +2638,10 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetLightDistance(command, lightDist); b3RequestCameraImageSetLightDistance(command, lightDist);
b3RequestCameraImageSetShadow(command, hasShadow); b3RequestCameraImageSetShadow(command, hasShadow);
b3RequestCameraImageSetLightAmbientCoeff(command, lightAmbientCoeff);
b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
if (b3CanSubmitCommand(sm)) if (b3CanSubmitCommand(sm))
{ {
@@ -3730,7 +3737,7 @@ static PyMethodDef SpamMethods[] = {
{ "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS, { "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS,
"Render an image (given the pixel resolution width, height, camera viewMatrix " "Render an image (given the pixel resolution width, height, camera viewMatrix "
", projectionMatrix, lightDirection, lightColor, lightDistance, and shadow), and return the " ", projectionMatrix, lightDirection, lightColor, lightDistance, shadow, lightAmbientCoeff, lightDiffuseCoeff, and lightSpecularCoeff), and return the "
"8-8-8bit RGB pixel data and floating point depth values" "8-8-8bit RGB pixel data and floating point depth values"
#ifdef PYBULLET_USE_NUMPY #ifdef PYBULLET_USE_NUMPY
" as NumPy arrays" " as NumPy arrays"