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re-enable shared memory connection for pybullet Gym envs (with fallback to GUI or DIRECT)

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suppress shared memory connection warnings
add fallback from ER_BULLET_HARDWARE_OPENGL to TinyRenderer if not available
This commit is contained in:
Erwin Coumans
2017-09-13 09:56:39 -07:00
parent cc9995d44b
commit c250a5f0b9
9 changed files with 25 additions and 12 deletions
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12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3541,7 +3541,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
}
bool handled = false;
if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
{
@@ -3551,14 +3552,19 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
segmentationMaskBuffer, numRequestedPixels,
startPixelIndex,width,height,&numPixelsCopied);
m_data->m_guiHelper->debugDisplayCameraImageData(viewMat,
if (numPixelsCopied>0)
{
handled = true;
m_data->m_guiHelper->debugDisplayCameraImageData(viewMat,
projMat,pixelRGBA,numRequestedPixels,
depthBuffer,numRequestedPixels,
0, numRequestedPixels,
startPixelIndex,width,height,&numPixelsCopied);
}
} else
}
if (!handled)
{
if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)