Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #1913 from erwincoumans/master

Browse Source 
add glViewport after startRendering
This commit is contained in:
erwincoumans
2018-10-02 08:17:12 -07:00
committed by GitHub
parent c9bd997acf 0f8b8388a6
commit e668eee028
4 changed files with 11 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -1158,6 +1158,7 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
{
{
m_data->m_glApp->m_window->startRendering();
m_data->m_glApp->setViewport(sourceWidth, sourceHeight);
BT_PROFILE("renderScene");
getRenderInterface()->renderSceneInternal(B3_SEGMENTATION_MASK_RENDERMODE);
}

8
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
View File

@@ -995,7 +995,7 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
int destinationWidth = *widthPtr;
int destinationHeight = *heightPtr;
int sourceWidth = btMin(destinationWidth, (int)(m_data->m_window->getWidth() * m_data->m_window->getRetinaScale()));
int sourceWidth = btMin(destinationWidth, (int)(m_data->m_window->getWidth() * m_data->m_window->getRetinaScale()));
int sourceHeight = btMin(destinationHeight, (int)(m_data->m_window->getHeight() * m_data->m_window->getRetinaScale()));
int numTotalPixels = (*widthPtr) * (*heightPtr);
@@ -1006,10 +1006,9 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
{
if (startPixelIndex == 0)
{
glViewport(0,0, sourceWidth, sourceHeight);
m_data->m_window->endRendering();
m_data->m_window->startRendering();
glViewport(0,0, sourceWidth, sourceHeight);
B3_PROFILE("m_instancingRenderer render");
m_data->m_instancingRenderer->writeTransforms();
if (m_data->m_hasLightDirection)
@@ -1097,7 +1096,7 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
{
{
m_data->m_window->startRendering();
glViewport(0,0, sourceWidth, sourceHeight);
BT_PROFILE("renderScene");
m_data->m_instancingRenderer->renderSceneInternal(B3_SEGMENTATION_MASK_RENDERMODE);
}
@@ -1266,6 +1265,7 @@ void EGLRendererVisualShapeConverter::resetAll()
m_data->m_swRenderInstances.clear();
m_data->m_visualShapes.clear();
m_data->m_graphicsIndexToSegmentationMask.clear();
m_data->m_instancingRenderer->removeAllInstances();
}
void EGLRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)

8
examples/pybullet/examples/testrender_egl.py
View File

@@ -21,8 +21,10 @@ ax = plt.gca()
pybullet.connect(pybullet.DIRECT)
egl = pkgutil.get_loader('eglRenderer')
pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
if (egl):
pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
else:
pybullet.loadPlugin("eglRendererPlugin")
pybullet.loadURDF("plane.urdf",[0,0,-1])
pybullet.loadURDF("r2d2.urdf")
@@ -52,7 +54,7 @@ while (1):
viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
aspect = pixelWidth / pixelHeight;
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,flags=pybullet.ER_SEGMENTATION_MASK, lightDirection=[1,1,1],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
stop = time.time()
print ("renderImage %f" % (stop - start))

2
setup.py
View File

@@ -559,7 +559,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
setup(
name = 'pybullet',
version='2.2.3',
version='2.2.8',
description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',