add pybullet render API with yaw/pitch/roll option

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

b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);

examples/pybullet/pybullet.c

@@ -1154,20 +1154,21 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
       b3RequestCameraImageSetFOVProjectionMatrix(command, fov, aspect, nearVal, farVal);
     }
   }
-  else if (size==10)
+  else if (size==11)
   {
       int upAxisIndex=1;
-      float camDistance,yaw,pitch;
+      float camDistance,yaw,pitch,roll;
       
       //sometimes more arguments are better :-)
-       if (PyArg_ParseTuple(args, "iiOfffifff", &width, &height, &objTargetPos, &camDistance, &yaw, &pitch, &upAxisIndex, &nearVal, &farVal, &fov))
+       if (PyArg_ParseTuple(args, "iiOffffifff", &width, &height, &objTargetPos, &camDistance, &yaw, &pitch, &roll, &upAxisIndex, &nearVal, &farVal, &fov))
        {
        		
+       			b3RequestCameraImageSetPixelResolution(command,width,height);
             if (pybullet_internalSetVector(objTargetPos, targetPos))
             {
                 //printf("width = %d, height = %d, targetPos = %f,%f,%f, distance = %f, yaw = %f, pitch = %f,	upAxisIndex = %d, near=%f, far=%f, fov=%f\n",width,height,targetPos[0],targetPos[1],targetPos[2],camDistance,yaw,pitch,upAxisIndex,nearVal,farVal,fov);
             	
-                b3RequestCameraImageSetViewMatrix2(command,targetPos,camDistance,yaw,pitch,upAxisIndex);
+                b3RequestCameraImageSetViewMatrix2(command,targetPos,camDistance,yaw,pitch,roll,upAxisIndex);
                 aspect = width/height;
                 b3RequestCameraImageSetFOVProjectionMatrix(command, fov, aspect, nearVal, farVal);
             } else
@@ -1193,6 +1194,9 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
 	{
 		b3SharedMemoryStatusHandle statusHandle;
 		int statusType;
+		
+		//b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
+		
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		statusType = b3GetStatusType(statusHandle);
 		if (statusType==CMD_CAMERA_IMAGE_COMPLETED)

examples/pybullet/testrender.py

@@ -6,14 +6,16 @@ pybullet.connect(pybullet.GUI)
 pybullet.loadURDF("r2d2.urdf")
 
 camTargetPos = [0,0,0]
-#cameraUp = [0,0,1]
-cameraPos = [3,3,3]
-yaw = 40.0
-pitch = 0.0
-upAxisIndex = 1
-camDistance = 3
-pixelWidth = 640
-pixelHeight = 480
+cameraUp = [0,0,1]
+cameraPos = [1,1,1]
+yaw = 40
+pitch = 10.0
+
+roll=0
+upAxisIndex = 2
+camDistance = 4
+pixelWidth = 320
+pixelHeight = 240
 nearPlane = 0.01
 farPlane = 1000
 
@@ -22,19 +24,23 @@ fov = 60
 #img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
 #renderImage(w, h, view[16], projection[16])
 #img_arr = pybullet.renderImage(pixelWidth, pixelHeight, cameraPos, camTargetPos, cameraUp, nearPlane, farPlane)
-img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, upAxisIndex, nearPlane, farPlane, fov)
+for pitch in range (0,360,10) :
+	img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex, nearPlane, farPlane, fov)
 
-w=img_arr[0] #width of the image, in pixels
-h=img_arr[1] #height of the image, in pixels
-rgb=img_arr[2] #color data RGB
-dep=img_arr[3] #depth data
+	w=img_arr[0] #width of the image, in pixels
+	h=img_arr[1] #height of the image, in pixels
+	rgb=img_arr[2] #color data RGB
+	dep=img_arr[3] #depth data
 
+	#print 'width = %d height = %d' % (w,h)
 
-# reshape creates np array
-np_img_arr = np.reshape(rgb, (pixelHeight, pixelWidth, 4))
-np_img_arr = np_img_arr*(1./255.)
+	# reshape creates np array
+	np_img_arr = np.reshape(rgb, (h, w, 4))
+	np_img_arr = np_img_arr*(1./255.)
 
-#show
-plt.imshow(np_img_arr,interpolation='none')
-plt.show()
-p.resetSimulation()
+	#show
+	plt.imshow(np_img_arr,interpolation='none')
+	#plt.show()
+	plt.pause(0.01)
+
+pybullet.resetSimulation()