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fix issues related to camera width/height

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add width,height as arguments to pybullet.renderImage(x,y,[viewMat4x4],[projMat4x4])
This commit is contained in:
Erwin Coumans
2016-06-07 16:11:58 -07:00
parent bd668d11b0
commit d2e50d045b
13 changed files with 203 additions and 141 deletions
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10
examples/SharedMemory/PhysicsDirect.cpp
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@@ -210,8 +210,15 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
unsigned char* rgbaPixelsReceived =
(unsigned char*)&m_data->m_bulletStreamDataServerToClient[0];
printf("pixel = %d\n", rgbaPixelsReceived[0]);
float* depthBuffer = (float*)&(m_data->m_bulletStreamDataServerToClient[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*4]);
// printf("pixel = %d\n", rgbaPixelsReceived[0]);
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;i++)
{
m_data->m_cachedCameraDepthBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = depthBuffer[i];
}
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*numBytesPerPixel;i++)
{
m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel]
@@ -227,6 +234,7 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
command.m_requestPixelDataArguments.m_startPixelIndex =
serverCmd.m_sendPixelDataArguments.m_startingPixelIndex +
serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;
} else
{
m_data->m_cachedCameraPixelsWidth = serverCmd.m_sendPixelDataArguments.m_imageWidth;