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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

14
examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h
View File

@@ -1,5 +1,5 @@
#ifndef TINY_RENDERER_PLUGIN_H
#define TINY_RENDERER_PLUGIN_H
#ifndef EGL_RENDERER_PLUGIN_H
#define EGL_RENDERER_PLUGIN_H
#include "../b3PluginAPI.h"
@@ -9,12 +9,12 @@ extern "C"
#endif
//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
B3_SHARED_API int initPlugin_eglRendererPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_eglRendererPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_eglRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//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);
@@ -22,4 +22,4 @@ B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlug
};
#endif
#endif//#define TEST_PLUGIN_H
#endif//#define EGL_RENDERER_PLUGIN_H