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add pybullet render API with yaw/pitch/roll option

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add testrender.py file
allow option to enable OpenGL hardware renderer in multithreaded sim

b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
This commit is contained in:
Erwin Coumans
2016-08-08 14:23:44 -07:00
parent f5fca86d49
commit b880ddf76b
11 changed files with 219 additions and 81 deletions
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64
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -47,6 +47,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eRobotSimGUIHelperCreateCollisionShapeGraphicsObject,
eRobotSimGUIHelperCreateCollisionObjectGraphicsObject,
eRobotSimGUIHelperRemoveAllGraphicsInstances,
eRobotSimGUIHelperCopyCameraImageData,
};
#include <stdio.h>
@@ -152,7 +153,7 @@ void* RobotlsMemoryFunc()
ATTRIBUTE_ALIGNED16(class) MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
ATTRIBUTE_ALIGNED16(class) MultiThreadedOpenGLGuiHelper2 : public GUIHelperInterface
{
CommonGraphicsApp* m_app;
@@ -185,7 +186,7 @@ public:
int m_instanceId;
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
MultiThreadedOpenGLGuiHelper2(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
:m_app(app)
,m_cs(0),
m_texels(0),
@@ -195,7 +196,7 @@ public:
}
virtual ~MultiThreadedOpenGLGuiHelper()
virtual ~MultiThreadedOpenGLGuiHelper2()
{
delete m_childGuiHelper;
}
@@ -345,10 +346,39 @@ public:
{
}
float m_viewMatrix[16];
float m_projectionMatrix[16];
unsigned char* m_pixelsRGBA;
int m_rgbaBufferSizeInPixels;
float* m_depthBuffer;
int m_depthBufferSizeInPixels;
int m_startPixelIndex;
int m_destinationWidth;
int m_destinationHeight;
int* m_numPixelsCopied;
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
{
if (numPixelsCopied)
*numPixelsCopied = 0;
m_cs->lock();
for (int i=0;i<16;i++)
{
m_viewMatrix[i] = viewMatrix[i];
m_projectionMatrix[i] = projectionMatrix[i];
}
m_pixelsRGBA = pixelsRGBA;
m_rgbaBufferSizeInPixels = rgbaBufferSizeInPixels;
m_depthBuffer = depthBuffer;
m_depthBufferSizeInPixels = depthBufferSizeInPixels;
m_startPixelIndex = startPixelIndex;
m_destinationWidth = destinationWidth;
m_destinationHeight = destinationHeight;
m_numPixelsCopied = numPixelsCopied;
m_cs->setSharedParam(1,eRobotSimGUIHelperCopyCameraImageData);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
{
}
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
@@ -375,7 +405,7 @@ struct b3RobotSimAPI_InternalData
b3ThreadSupportInterface* m_threadSupport;
RobotSimArgs m_args[MAX_ROBOT_NUM_THREADS];
MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
MultiThreadedOpenGLGuiHelper2* m_multiThreadedHelper;
bool m_connected;
@@ -494,6 +524,24 @@ void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eRobotSimGUIHelperCopyCameraImageData:
{
m_data->m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_data->m_multiThreadedHelper->m_viewMatrix,
m_data->m_multiThreadedHelper->m_projectionMatrix,
m_data->m_multiThreadedHelper->m_pixelsRGBA,
m_data->m_multiThreadedHelper->m_rgbaBufferSizeInPixels,
m_data->m_multiThreadedHelper->m_depthBuffer,
m_data->m_multiThreadedHelper->m_depthBufferSizeInPixels,
m_data->m_multiThreadedHelper->m_startPixelIndex,
m_data->m_multiThreadedHelper->m_destinationWidth,
m_data->m_multiThreadedHelper->m_destinationHeight,
m_data->m_multiThreadedHelper->m_numPixelsCopied);
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eRobotSimGUIHelperIdle:
default:
{
@@ -669,9 +717,9 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
{
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper(guiHelper->getAppInterface(),guiHelper);
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(),guiHelper);
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(guiHelper->getAppInterface(),guiHelper);
MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(),guiHelper);