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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2019-06-19 12:08:52 -07:00
parent 16542aa740 ed4515ae17
commit d4aac235fc
6 changed files with 120 additions and 82 deletions
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1
examples/pybullet/examples/configureDebugVisualizer.py
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@@ -12,6 +12,7 @@ radius=5
t = 0
p.configureDebugVisualizer(shadowMapWorldSize=5)
p.configureDebugVisualizer(shadowMapResolution=8192)
while (1):
t+=dt
p.configureDebugVisualizer(lightPosition=[radius*math.sin(t),radius*math.cos(t),3])

11
examples/pybullet/pybullet.c
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@@ -5874,12 +5874,13 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
int shadowMapResolution = -1;
int shadowMapWorldSize = -1;
int physicsClientId = 0;
double remoteSyncTransformInterval = -1;
PyObject* pyLightPosition = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "physicsClientId", NULL};
static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "remoteSyncTransformInterval", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiii", kwlist,
&flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiidi", kwlist,
&flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &remoteSyncTransformInterval, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -5911,6 +5912,10 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
{
b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(commandHandle, shadowMapWorldSize);
}
if (remoteSyncTransformInterval >= 0)
{
b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(commandHandle, remoteSyncTransformInterval);
}
b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}