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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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55
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -43,6 +43,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIHelperCreateCollisionShapeGraphicsObject,
eGUIHelperCreateCollisionObjectGraphicsObject,
eGUIHelperRemoveAllGraphicsInstances,
eGUIHelperCopyCameraImageData,
};
#include <stdio.h>
@@ -392,11 +393,41 @@ public:
{
}
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int width, int height, int* numPixelsCopied)
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,eGUIHelperCopyCameraImageData);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
@@ -727,6 +758,24 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperCopyCameraImageData:
{
m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_multiThreadedHelper->m_viewMatrix,
m_multiThreadedHelper->m_projectionMatrix,
m_multiThreadedHelper->m_pixelsRGBA,
m_multiThreadedHelper->m_rgbaBufferSizeInPixels,
m_multiThreadedHelper->m_depthBuffer,
m_multiThreadedHelper->m_depthBufferSizeInPixels,
m_multiThreadedHelper->m_startPixelIndex,
m_multiThreadedHelper->m_destinationWidth,
m_multiThreadedHelper->m_destinationHeight,
m_multiThreadedHelper->m_numPixelsCopied);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperIdle:
default:
{