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add one more pybullet renderImage API and testrender.py example

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tweak Bullet Inverse Dynamics, work-around compiler issue
This commit is contained in:
Erwin Coumans
2016-08-02 11:12:23 -07:00
parent 7d76183e13
commit f304fd7611
5 changed files with 139 additions and 4 deletions
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31
examples/pybullet/pybullet.c
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@@ -1041,6 +1041,8 @@ static int pybullet_internalSetVector(PyObject* objMat, float vector[3])
// renderImage(w, h, cameraPos, targetPos, cameraUp, nearVal, farVal, fov) -
// set resolution and initialize camera based on camera position, target
// position, camera up, fulstrum near/far values and camera field of view.
// renderImage(w, h, targetPos, distance, yaw, pitch, upAxisIndex, nearVal, farVal, fov)
//
// Note if the (w,h) is too small, the objects may not appear based on
// where the camera has been set
@@ -1151,6 +1153,35 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
aspect = width/height;
b3RequestCameraImageSetFOVProjectionMatrix(command, fov, aspect, nearVal, farVal);
}
}
else if (size==10)
{
int upAxisIndex=1;
float camDistance,yaw,pitch;
//sometimes more arguments are better :-)
if (PyArg_ParseTuple(args, "iiOfffifff", &width, &height, &objTargetPos, &camDistance, &yaw, &pitch, &upAxisIndex, &nearVal, &farVal, &fov))
{
if (pybullet_internalSetVector(objTargetPos, targetPos))
{
printf("width = %d, height = %d, targetPos = %f,%f,%f, distance = %f, yaw = %f, pitch = %f, upAxisIndex = %d, near=%f, far=%f, fov=%f\n",width,height,targetPos[0],targetPos[1],targetPos[2],camDistance,yaw,pitch,upAxisIndex,nearVal,farVal,fov);
b3RequestCameraImageSetViewMatrix2(command,targetPos,camDistance,yaw,pitch,upAxisIndex);
aspect = width/height;
b3RequestCameraImageSetFOVProjectionMatrix(command, fov, aspect, nearVal, farVal);
} else
{
PyErr_SetString(SpamError, "Error parsing camera target pos");
}
} else
{
PyErr_SetString(SpamError, "Error parsing arguments");
}
}
else
{