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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
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34
examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp
View File

@@ -1,15 +1,7 @@
//tinyRenderer plugin
//eglRenderer plugin
/*
import pybullet as p
p.connect(p.GUI)
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin")
print("plugin=",plugin)
p.loadURDF("r2d2.urdf")
while (1):
p.getCameraImage(320,200)
*/
//see Bullet/examples/pybullet/examples/eglRendererTest.py
#include "eglRendererPlugin.h"
#include "eglRendererVisualShapeConverter.h"
@@ -20,43 +12,43 @@ while (1):
struct MyRendererPluginClass
struct EGLRendererPluginClass
{
TinyRendererVisualShapeConverter m_renderer;
MyRendererPluginClass()
EGLRendererVisualShapeConverter m_renderer;
EGLRendererPluginClass()
{
}
virtual ~MyRendererPluginClass()
virtual ~EGLRendererPluginClass()
{
}
};
B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
B3_SHARED_API int initPlugin_eglRendererPlugin(struct b3PluginContext* context)
{
MyRendererPluginClass* obj = new MyRendererPluginClass();
EGLRendererPluginClass* obj = new EGLRendererPluginClass();
context->m_userPointer = obj;
return SHARED_MEMORY_MAGIC_NUMBER;
}
B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
B3_SHARED_API int executePluginCommand_eglRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
return -1;
}
B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
B3_SHARED_API void exitPlugin_eglRendererPlugin(struct b3PluginContext* context)
{
MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
EGLRendererPluginClass* obj = (EGLRendererPluginClass*) context->m_userPointer;
delete obj;
context->m_userPointer = 0;
}
//all the APIs below are optional
B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context)
B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_eglRendererPlugin(struct b3PluginContext* context)
{
MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
EGLRendererPluginClass* obj = (EGLRendererPluginClass*) context->m_userPointer;
return &obj->m_renderer;
}