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Thanks to @dchichkov for some of the fixes in the eglRendererPlugin!

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Rename tinyRenderer -> eglRenderer in the eglRendererPlugin.
Allow to run the eglRendererPlugin to run on Windows (not in EGL mode but Win32OpenGLWindow mode)

Here is a script I tested on Windows:
~~~~~~~~~~~~
mport pybullet as p
import time

p.connect(p.DIRECT)
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_eglRendererPlugin_vs2010_x64_debug.dll","_eglRendererPlugin")
print("plugin=",plugin)
p.setGravity(0,0,-10)
p.loadURDF("plane.urdf",[0,0,-1])
p.loadURDF("r2d2.urdf")
pixelWidth = 320
pixelHeight = 220
while (1):
	p.stepSimulation()
	viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
	projectionMatrix  = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]

	#img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	img_arr = p.getCameraImage(pixelWidth, pixelHeight, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	#print("img_arr=",img_arr)
	time.sleep(1)
~~~~~~~~~~~~~
This commit is contained in:
erwincoumans
2018-09-09 13:37:49 -07:00
parent dc7feb9027
commit adb5c049c7
10 changed files with 159 additions and 184 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
examples/OpenGLWindow/EGLOpenGLWindow.cpp
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@@ -30,11 +30,12 @@
#ifdef BT_USE_EGL
#include <pthread.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include "OpenGLInclude.h"
@@ -213,7 +214,7 @@ void EGLOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) {
exit(EXIT_FAILURE);
}
if (!gladLoadGL(eglGetProcAddress)) {
if (!gladLoadGL((GLADloadfunc) eglGetProcAddress)) {
fprintf(stderr, "failed to load GL with glad.\n");
exit(EXIT_FAILURE);
}
@@ -228,8 +229,8 @@ void EGLOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) {
const GLubyte* sl = glGetString(GL_SHADING_LANGUAGE_VERSION);
printf("GL_SHADING_LANGUAGE_VERSION=%s\n", sl);
int i = pthread_getconcurrency();
printf("pthread_getconcurrency()=%d\n", i);
//int i = pthread_getconcurrency();
//printf("pthread_getconcurrency()=%d\n", i);
}
void EGLOpenGLWindow::closeWindow() {