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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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2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -71,7 +71,7 @@ void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]);
void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, int upAxis);
void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis);
void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal);
void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle command, float fov, float aspect, float nearVal, float farVal);
void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );