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add jointFrictionDamping.py example

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modify testrender.py to add shadow for tiny renderer
This commit is contained in:
Erwin Coumans
2017-10-23 12:25:04 -07:00
parent 618deae3e4
commit ca7d599838
2 changed files with 32 additions and 3 deletions
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7
examples/pybullet/examples/testrender.py
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@@ -3,6 +3,7 @@ import matplotlib.pyplot as plt
import pybullet
pybullet.connect(pybullet.GUI)
pybullet.loadURDF("plane.urdf")
pybullet.loadURDF("r2d2.urdf")
camTargetPos = [0.,0.,0.]
@@ -18,8 +19,8 @@ pixelWidth = 320
pixelHeight = 240
nearPlane = 0.01
farPlane = 1000
lightDirection = [0,1,0]
lightColor = [1,1,1]#optional argument
lightDirection = [0.4,0.4,0]
lightColor = [.3,.3,.3]#1,1,1]#optional argument
fov = 60
#img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
@@ -30,7 +31,7 @@ for pitch in range (0,360,10) :
aspect = pixelWidth / pixelHeight;
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
#getCameraImage can also use renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection,lightColor,renderer=pybullet.ER_TINY_RENDERER)
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightAmbientCoeff = 0.3, lightDiffuseCoeff = 0.4, shadow=1, renderer=pybullet.ER_TINY_RENDERER)
w=img_arr[0]
h=img_arr[1]
rgb=img_arr[2]