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Add option GUI_MAIN_THREAD for running OpenGL in the main thread (Python thread). This already happens on Mac OSX by default.

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Pass all argc/argc from options to InProcessPhysicsClientSharedMemoryMainThread
This commit is contained in:
erwincoumans
2018-02-14 16:49:44 -08:00
parent 5e08d6d334
commit d3fe21ef17
5 changed files with 20 additions and 12 deletions
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5
examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
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@@ -6,11 +6,12 @@ import pybullet
class BulletClient(object):
"""A wrapper for pybullet to manage different clients."""
def __init__(self, connection_mode=pybullet.DIRECT):
def __init__(self, connection_mode=pybullet.DIRECT, options=""):
"""Create a simulation and connect to it."""
self._client = pybullet.connect(pybullet.SHARED_MEMORY)
if(self._client<0):
self._client = pybullet.connect(connection_mode)
print("options=",options)
self._client = pybullet.connect(connection_mode,options=options)
self._shapes = {}
def __del__(self):

6
examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py
View File

@@ -40,8 +40,8 @@ class PyBulletSimGymEnv(gym.Env):
render_sleep=False,
debug_visualization=True,
hard_reset = False,
render_width=740,
render_height=740,
render_width=240,
render_height=240,
action_repeat=1,
time_step = 1./240.,
num_bullet_solver_iterations=50,
@@ -190,7 +190,7 @@ class PyBulletSimGymEnv(gym.Env):
proj_matrix=[1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
(_, _, px, _, _) = self._pybullet_client.getCameraImage(
width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
projectionMatrix=proj_matrix, renderer=pybullet.ER_TINY_RENDERER)
rgb_array = np.array(px, dtype=np.uint8)
rgb_array = np.reshape(rgb_array, (self._render_height, self._render_width, 4))
rgb_array = rgb_array[:, :, :3]