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Update to upstream

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Bart Moyaers
2019-06-20 10:13:23 +02:00
parent 9b68deb6eb 681a730e05
commit a09f71758c
18 changed files with 304 additions and 115 deletions
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21
examples/pybullet/examples/configureDebugVisualizer.py Normal file
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@@ -0,0 +1,21 @@
import pybullet as p
import math
import time
dt = 1./240.
p.connect(p.GUI)
p.loadURDF("r2d2.urdf",[0,0,1])
p.loadURDF("plane.urdf")
p.setGravity(0,0,-10)
radius=5
t = 0
p.configureDebugVisualizer(shadowMapWorldSize=5)
p.configureDebugVisualizer(shadowMapResolution=8192)
while (1):
t+=dt
p.configureDebugVisualizer(lightPosition=[radius*math.sin(t),radius*math.cos(t),3])
p.stepSimulation()
time.sleep(dt)

1
examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj
View File

@@ -1,6 +1,5 @@
# Blender v2.76 (sub 0) OBJ File: ''
# www.blender.org
mtllib l_link_mini.mtl
o lower_link
v -0.007927 -0.006511 0.072209
v -0.007918 -0.006511 0.072209

2
examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf
View File

@@ -4,7 +4,7 @@
<inertial>
<mass value="3.3"/>
<origin xyz="0.0 0.0 0.0"/>
<inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.362030" iyz="0" izz="0.042673"/>
<inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.036203" iyz="0" izz="0.042673"/>
</inertial>
<visual>
<geometry>

39
examples/pybullet/pybullet.c
View File

@@ -5869,15 +5869,18 @@ static PyObject* pybullet_getDebugVisualizerCamera(PyObject* self, PyObject* arg
static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* args, PyObject* keywds)
{
int flag = 1;
int flag = -1;
int enable = -1;
int shadowMapResolution = -1;
int shadowMapWorldSize = -1;
int physicsClientId = 0;
double remoteSyncTransformInterval = -1;
PyObject* pyLightPosition = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"flag", "enable", "physicsClientId", NULL};
static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "remoteSyncTransformInterval", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist,
&flag, &enable, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiidi", kwlist,
&flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &remoteSyncTransformInterval, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -5889,7 +5892,31 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
{
b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(sm);
b3ConfigureOpenGLVisualizerSetVisualizationFlags(commandHandle, flag, enable);
if (flag >= 0)
{
b3ConfigureOpenGLVisualizerSetVisualizationFlags(commandHandle, flag, enable);
}
if (pyLightPosition)
{
float lightPosition[3];
if (pybullet_internalSetVector(pyLightPosition, lightPosition))
{
b3ConfigureOpenGLVisualizerSetLightPosition(commandHandle, lightPosition);
}
}
if (shadowMapResolution > 0)
{
b3ConfigureOpenGLVisualizerSetShadowMapResolution(commandHandle, shadowMapResolution);
}
if (shadowMapWorldSize > 0)
{
b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(commandHandle, shadowMapWorldSize);
}
if (remoteSyncTransformInterval >= 0)
{
b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(commandHandle, remoteSyncTransformInterval);
}
b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
Py_INCREF(Py_None);