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

Extras/BulletRobotics/CMakeLists.txt

@@ -166,7 +166,7 @@ SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES VERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES SOVERSION ${BULLET_VERSION})
 
 IF (BUILD_SHARED_LIBS)
-	TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
+	TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics OpenGLWindow LinearMath Bullet3Common)
 ENDIF (BUILD_SHARED_LIBS)
 
 IF (INSTALL_EXTRA_LIBS)

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -1585,7 +1585,6 @@ void GLInstancingRenderer::renderScene()
 	}
 	else if (useProjectiveTexture)
 	{
-		//renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
 		renderSceneInternal(B3_USE_PROJECTIVE_TEXTURE_RENDERMODE);
 	}
 	else

examples/SharedMemory/CMakeLists.txt

@@ -97,7 +97,7 @@ IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
 ENDIF()
 
 LINK_LIBRARIES(
- Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
+ Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath OpenGLWindow BussIK
 )
 
 

examples/SharedMemory/PhysicsClientC_API.h

@@ -213,6 +213,9 @@ B3_SHARED_API	void b3RequestCameraImageSetFlags(b3SharedMemoryCommandHandle comm
 
 
 B3_SHARED_API	void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
+	
+///set projective texture camera matrices.
+B3_SHARED_API	void b3RequestCameraImageSetProjectiveTextureMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[/*16*/], float projectionMatrix[/*16*/]);
 
 ///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices
 B3_SHARED_API	void b3ComputeViewMatrixFromPositions(const float cameraPosition[/*3*/], const float cameraTargetPosition[/*3*/], const float cameraUp[/*3*/], float viewMatrix[/*16*/]);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -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,

examples/SharedMemory/SharedMemoryPublic.h

@@ -616,7 +616,9 @@ enum EnumRenderer
 enum EnumRendererAuxFlags
 {
 	ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX=1,
+	ER_USE_PROJECTIVE_TEXTURE=2,
 };
+
 ///flags to pick the IK solver and other options
 enum EnumCalculateInverseKinematicsFlags
 {

examples/pybullet/examples/projective_texture.py

@@ -25,6 +25,7 @@ if (useRealTimeSimulation):
 
 while 1:
 	if (useRealTimeSimulation):
+		p.getCameraImage(300, 300, lightColor=[1.0,0.0,0.0], renderer=p.ER_BULLET_HARDWARE_OPENGL, flags=p.ER_USE_PROJECTIVE_TEXTURE)
 		p.setGravity(0,0,0)
 		sleep(0.01) # Time in seconds.
 	else:

examples/pybullet/pybullet.c

@@ -9112,6 +9112,7 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
 	PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
 	PyModule_AddIntConstant(m, "ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX", ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX);
+	PyModule_AddIntConstant(m, "ER_USE_PROJECTIVE_TEXTURE", ER_USE_PROJECTIVE_TEXTURE);
 
 	PyModule_AddIntConstant(m, "IK_DLS", IK_DLS);
 	PyModule_AddIntConstant(m, "IK_SDLS", IK_SDLS);

test/SharedMemory/CMakeLists.txt

@@ -16,7 +16,7 @@ IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
 ENDIF()
 
 LINK_LIBRARIES(
- BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest BussIK
+ BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest OpenGLWindow BussIK
 )
 
 IF (NOT WIN32)