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Update to upstream

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This commit is contained in:
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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5
examples/BlockSolver/RigidBodyBoxes.cpp
View File

@@ -8,7 +8,7 @@ class RigidBodyBoxes : public CommonRigidBodyBase
{
int m_option;
int m_numIterations;
int m_numBoxes = 4;
int m_numBoxes;
btAlignedObjectArray<btRigidBody*> boxes;
static btScalar numSolverIterations;
@@ -38,7 +38,8 @@ btScalar RigidBodyBoxes::numSolverIterations = 50;
RigidBodyBoxes::RigidBodyBoxes(GUIHelperInterface* helper, int option)
: CommonRigidBodyBase(helper),
m_option(option),
m_numIterations(numSolverIterations)
m_numIterations(numSolverIterations),
m_numBoxes(4)
{
m_guiHelper->setUpAxis(2);
}

3
examples/CommonInterfaces/CommonRenderInterface.h
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@@ -49,6 +49,9 @@ struct CommonRenderInterface
virtual void setLightPosition(const float lightPos[3]) = 0;
virtual void setLightPosition(const double lightPos[3]) = 0;
virtual void setShadowMapResolution(int shadowMapResolution) = 0;
virtual void setShadowMapWorldSize(float worldSize) = 0;
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]){};
virtual void setProjectiveTexture(bool useProjectiveTexture){};

4
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -257,7 +257,11 @@ void MyKeyboardCallback(int key, int state)
}
else
{
#ifdef _WIN32
b3ChromeUtilsStopTimingsAndWriteJsonFile("timings");
#else
b3ChromeUtilsStopTimingsAndWriteJsonFile("/tmp/timings");
#endif
}
}

4
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -27,7 +27,7 @@ static bool parseVector4(btVector4& vec4, const std::string& vector_str)
{
vec4.setZero();
btArray<std::string> pieces;
btArray<float> rgba;
btArray<double> rgba;
btAlignedObjectArray<std::string> strArray;
urdfIsAnyOf(" ", strArray);
urdfStringSplit(pieces, vector_str, strArray);
@@ -50,7 +50,7 @@ static bool parseVector3(btVector3& vec3, const std::string& vector_str, ErrorLo
{
vec3.setZero();
btArray<std::string> pieces;
btArray<float> rgba;
btArray<double> rgba;
btAlignedObjectArray<std::string> strArray;
urdfIsAnyOf(" ", strArray);
urdfStringSplit(pieces, vector_str, strArray);

60
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -16,9 +16,8 @@ subject to the following restrictions:
///todo: make this configurable in the gui
bool useShadowMap = true; // true;//false;//true;
int shadowMapWidth = 4096;
int shadowMapHeight = 4096;
float shadowMapWorldSize = 10;
#include <stdio.h>
struct caster2
@@ -244,11 +243,22 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
b3ResizablePool<b3PublicGraphicsInstance> m_publicGraphicsInstances;
int m_shadowMapWidth;
int m_shadowMapHeight;
float m_shadowMapWorldSize;
bool m_updateShadowMap;
InternalDataRenderer() : m_activeCamera(&m_defaultCamera1),
m_shadowMap(0),
m_shadowTexture(0),
m_renderFrameBuffer(0)
m_renderFrameBuffer(0),
m_shadowMapWidth(4096),
m_shadowMapHeight(4096),
m_shadowMapWorldSize(10),
m_updateShadowMap(true)
{
m_lightPos = b3MakeVector3(-50, 30, 40);
m_lightSpecularIntensity.setValue(1, 1, 1);
@@ -1449,6 +1459,19 @@ void GLInstancingRenderer::setLightPosition(const float lightPos[3])
m_data->m_lightPos[2] = lightPos[2];
}
void GLInstancingRenderer::setShadowMapResolution(int shadowMapResolution)
{
m_data->m_shadowMapWidth = shadowMapResolution;
m_data->m_shadowMapHeight = shadowMapResolution;
m_data->m_updateShadowMap = true;
}
void GLInstancingRenderer::setShadowMapWorldSize(float worldSize)
{
m_data->m_shadowMapWorldSize = worldSize;
m_data->m_updateShadowMap = true;
}
void GLInstancingRenderer::setLightPosition(const double lightPos[3])
{
m_data->m_lightPos[0] = lightPos[0];
@@ -2071,6 +2094,13 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
glEnable(GL_CULL_FACE);
glCullFace(GL_FRONT);
if (m_data->m_shadowMap && m_data->m_updateShadowMap)
{
m_data->m_updateShadowMap = false;
glDeleteTextures(1, &m_data->m_shadowTexture);
delete m_data->m_shadowMap;
m_data->m_shadowMap = 0;
}
if (!m_data->m_shadowMap)
{
glActiveTexture(GL_TEXTURE0);
@@ -2088,27 +2118,27 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
int size;
glGetIntegerv(GL_MAX_TEXTURE_SIZE, &size);
if (size < shadowMapWidth)
if (size < m_data->m_shadowMapWidth)
{
shadowMapWidth = size;
m_data->m_shadowMapWidth = size;
}
if (size < shadowMapHeight)
if (size < m_data->m_shadowMapHeight)
{
shadowMapHeight = size;
m_data->m_shadowMapHeight = size;
}
GLuint err;
do
{
glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT16,
shadowMapWidth, shadowMapHeight,
m_data->m_shadowMapWidth, m_data->m_shadowMapHeight,
0, GL_DEPTH_COMPONENT, GL_FLOAT, 0);
err = glGetError();
if (err != GL_NO_ERROR)
{
shadowMapHeight >>= 1;
shadowMapWidth >>= 1;
m_data->m_shadowMapHeight >>= 1;
m_data->m_shadowMapWidth >>= 1;
}
} while (err != GL_NO_ERROR && shadowMapWidth > 0);
} while (err != GL_NO_ERROR && m_data->m_shadowMapWidth > 0);
#endif //OLD_SHADOWMAP_INIT
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
@@ -2124,10 +2154,10 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_COMPARE_REF_TO_TEXTURE);
m_data->m_shadowMap = new GLRenderToTexture();
m_data->m_shadowMap->init(shadowMapWidth, shadowMapHeight, m_data->m_shadowTexture, RENDERTEXTURE_DEPTH);
m_data->m_shadowMap->init(m_data->m_shadowMapWidth, m_data->m_shadowMapHeight, m_data->m_shadowTexture, RENDERTEXTURE_DEPTH);
}
m_data->m_shadowMap->enable();
glViewport(0, 0, shadowMapWidth, shadowMapHeight);
glViewport(0, 0, m_data->m_shadowMapWidth, m_data->m_shadowMapHeight);
//glClearColor(1,1,1,1);
glClear(GL_DEPTH_BUFFER_BIT);
//glClearColor(0.3,0.3,0.3,1);
@@ -2145,7 +2175,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
glCullFace(GL_BACK);
}
b3CreateOrtho(-shadowMapWorldSize, shadowMapWorldSize, -shadowMapWorldSize, shadowMapWorldSize, 1, 300, depthProjectionMatrix); //-14,14,-14,14,1,200, depthProjectionMatrix);
b3CreateOrtho(-m_data->m_shadowMapWorldSize, m_data->m_shadowMapWorldSize, -m_data->m_shadowMapWorldSize, m_data->m_shadowMapWorldSize, 1, 300, depthProjectionMatrix); //-14,14,-14,14,1,200, depthProjectionMatrix);
float depthViewMatrix[4][4];
b3Vector3 center = b3MakeVector3(0, 0, 0);
m_data->m_activeCamera->getCameraTargetPosition(center);

2
examples/OpenGLWindow/GLInstancingRenderer.h
View File

@@ -120,6 +120,8 @@ public:
virtual void setLightPosition(const float lightPos[3]);
virtual void setLightPosition(const double lightPos[3]);
virtual void setShadowMapResolution(int shadowMapResolution);
virtual void setShadowMapWorldSize(float worldSize);
void setLightSpecularIntensity(const float lightSpecularIntensity[3]);
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
virtual void setProjectiveTexture(bool useProjectiveTexture);

6
examples/OpenGLWindow/LoadShader.cpp
View File

@@ -44,7 +44,7 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
return 0;
glDeleteShader(hVertexShader);
glDeleteShader(hFragmentShader);
return (GLuint)NULL;
return (GLuint)0;
}
assert(glGetError() == GL_NO_ERROR);
@@ -62,7 +62,7 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
exit(EXIT_FAILURE);
glDeleteShader(hVertexShader);
glDeleteShader(hFragmentShader);
return (GLuint)NULL;
return (GLuint)0;
}
assert(glGetError() == GL_NO_ERROR);
@@ -96,7 +96,7 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
printf("Warning/Error in GLSL shader:\n");
printf("%s\n", infoLog);
glDeleteProgram(hReturn);
return (GLuint)NULL;
return (GLuint)0;
}
return hReturn;

3
examples/OpenGLWindow/SimpleOpenGL2Renderer.h
View File

@@ -26,7 +26,8 @@ public:
virtual void setLightPosition(const float lightPos[3]);
virtual void setLightPosition(const double lightPos[3]);
virtual void setShadowMapResolution(int shadowMapResolution) {}
virtual void setShadowMapWorldSize(float worldSize) {}
virtual void resize(int width, int height);
virtual void removeAllInstances();

5
examples/SharedMemory/GraphicsServerExample.cpp
View File

@@ -10,6 +10,7 @@
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "GraphicsSharedMemoryBlock.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryPublic.h"
#define MAX_GRAPHICS_SHARED_MEMORY_BLOCKS 1
@@ -107,12 +108,16 @@ public:
break;
}
case GFX_CMD_SET_VISUALIZER_FLAG:
{
if (clientCmd.m_visualizerFlagCommand.m_visualizerFlag!=COV_ENABLE_RENDERING)
{
//printf("clientCmd.m_visualizerFlag.m_visualizerFlag: %d, clientCmd.m_visualizerFlag.m_enable %d\n",
// clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable);
this->m_guiHelper->setVisualizerFlag(clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable);
}
break;
}
case GFX_CMD_UPLOAD_DATA:

52
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -5462,6 +5462,58 @@ B3_SHARED_API void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemo
}
}
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle commandHandle, const float lightPosition[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
{
command->m_updateFlags |= COV_SET_LIGHT_POSITION;
command->m_configureOpenGLVisualizerArguments.m_lightPosition[0] = lightPosition[0];
command->m_configureOpenGLVisualizerArguments.m_lightPosition[1] = lightPosition[1];
command->m_configureOpenGLVisualizerArguments.m_lightPosition[2] = lightPosition[2];
}
}
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
{
command->m_updateFlags |= COV_SET_SHADOWMAP_RESOLUTION;
command->m_configureOpenGLVisualizerArguments.m_shadowMapResolution = shadowMapResolution;
}
}
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle commandHandle, int shadowMapWorldSize)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
{
command->m_updateFlags |= COV_SET_SHADOWMAP_WORLD_SIZE;
command->m_configureOpenGLVisualizerArguments.m_shadowMapWorldSize = shadowMapWorldSize;
}
}
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle commandHandle, double remoteSyncTransformInterval)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
{
command->m_updateFlags |= COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL;
command->m_configureOpenGLVisualizerArguments.m_remoteSyncTransformInterval = remoteSyncTransformInterval;
}
}
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

5
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -207,6 +207,11 @@ extern "C"
B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle commandHandle, const float lightPosition[3]);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle commandHandle, int shadowMapWorldSize);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle commandHandle, double remoteSyncTransformInterval);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[/*3*/]);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestOpenGLVisualizerCameraCommand(b3PhysicsClientHandle physClient);

40
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -1672,6 +1672,9 @@ struct PhysicsServerCommandProcessorInternalData
b3ThreadPool* m_threadPool;
btScalar m_defaultCollisionMargin;
double m_remoteSyncTransformTime;
double m_remoteSyncTransformInterval;
PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
: m_pluginManager(proc),
m_useRealTimeSimulation(false),
@@ -1705,7 +1708,9 @@ struct PhysicsServerCommandProcessorInternalData
m_collisionFilterPlugin(-1),
m_grpcPlugin(-1),
m_threadPool(0),
m_defaultCollisionMargin(0.001)
m_defaultCollisionMargin(0.001),
m_remoteSyncTransformTime(1. / 30.),
m_remoteSyncTransformInterval(1. / 30.)
{
{
//register static plugins:
@@ -1769,8 +1774,6 @@ struct PhysicsServerCommandProcessorInternalData
}
#endif
m_vrControllerEvents.init();
m_bodyHandles.exitHandles();
@@ -1868,7 +1871,6 @@ struct PhysicsServerCommandProcessorInternalData
int dof = 7;
int veldof = 7;
for (int l = 0; l < multiBody->getNumLinks(); l++)
{
switch (multiBody->getLink(l).m_jointType)
@@ -7763,7 +7765,13 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
}
serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
m_data->m_remoteSyncTransformTime += deltaTimeScaled;
if (m_data->m_remoteSyncTransformTime >= m_data->m_remoteSyncTransformInterval)
{
m_data->m_remoteSyncTransformTime = 0;
syncPhysicsToGraphics2();
}
return hasStatus;
}
@@ -9058,6 +9066,29 @@ bool PhysicsServerCommandProcessor::processConfigureOpenGLVisualizerCommand(cons
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[1],
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[2]);
}
if (m_data->m_guiHelper->getRenderInterface())
{
if (clientCmd.m_updateFlags & COV_SET_LIGHT_POSITION)
{
m_data->m_guiHelper->getRenderInterface()->setLightPosition(clientCmd.m_configureOpenGLVisualizerArguments.m_lightPosition);
}
if (clientCmd.m_updateFlags & COV_SET_SHADOWMAP_RESOLUTION)
{
m_data->m_guiHelper->getRenderInterface()->setShadowMapResolution(clientCmd.m_configureOpenGLVisualizerArguments.m_shadowMapResolution);
}
if (clientCmd.m_updateFlags & COV_SET_SHADOWMAP_WORLD_SIZE)
{
float worldSize = clientCmd.m_configureOpenGLVisualizerArguments.m_shadowMapWorldSize;
m_data->m_guiHelper->getRenderInterface()->setShadowMapWorldSize(worldSize);
}
}
if (clientCmd.m_updateFlags & COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL)
{
m_data->m_remoteSyncTransformInterval = clientCmd.m_configureOpenGLVisualizerArguments.m_remoteSyncTransformInterval;
}
return hasStatus;
}
@@ -12031,6 +12062,7 @@ void PhysicsServerCommandProcessor::addTransformChangedNotifications()
void PhysicsServerCommandProcessor::resetSimulation()
{
//clean up all data
m_data->m_remoteSyncTransformTime = m_data->m_remoteSyncTransformInterval;
m_data->m_simulationTimestamp = 0;
m_data->m_cachedVUrdfisualShapes.clear();

9
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -905,6 +905,10 @@ enum InternalOpenGLVisualizerUpdateFlags
{
COV_SET_CAMERA_VIEW_MATRIX = 1,
COV_SET_FLAGS = 2,
COV_SET_LIGHT_POSITION = 4,
COV_SET_SHADOWMAP_RESOLUTION = 8,
COV_SET_SHADOWMAP_WORLD_SIZE = 16,
COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL = 32,
};
struct ConfigureOpenGLVisualizerRequest
@@ -913,7 +917,10 @@ struct ConfigureOpenGLVisualizerRequest
double m_cameraPitch;
double m_cameraYaw;
double m_cameraTargetPosition[3];
double m_lightPosition[3];
int m_shadowMapResolution;
int m_shadowMapWorldSize;
double m_remoteSyncTransformInterval;
int m_setFlag;
int m_setEnabled;
};

21
examples/pybullet/examples/configureDebugVisualizer.py Normal file
View File

@@ -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>

37
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);
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);