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Expose using projective texture as a flag in pybullet getCameraImage API.

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This commit is contained in:
yunfeibai
2018-03-18 17:01:23 -07:00
parent 680ce39e96
commit fd7aa8d0e1
9 changed files with 23 additions and 6 deletions
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15
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1,5 +1,6 @@
#include "PhysicsServerCommandProcessor.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../OpenGLWindow/GLInstancingRenderer.h"
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
@@ -70,8 +71,6 @@
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#endif
int gInternalSimFlags = 0;
bool gResetSimulation = 0;
int gVRTrackingObjectUniqueId = -1;
@@ -3109,6 +3108,8 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
return hasStatus;
}
extern bool useShadowMap;
extern bool useProjectiveTexture;
bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
@@ -3190,6 +3191,16 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
{
if ((flags & ER_USE_PROJECTIVE_TEXTURE) != 0)
{
useShadowMap = false;
useProjectiveTexture = true;
}
else
{
useShadowMap = true;
useProjectiveTexture = false;
}
m_data->m_guiHelper->copyCameraImageData(viewMat,
projMat,pixelRGBA,numRequestedPixels,