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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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2
Extras/BulletRobotics/CMakeLists.txt
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@@ -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)

1
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -1585,7 +1585,6 @@ void GLInstancingRenderer::renderScene()
}
else if (useProjectiveTexture)
{
//renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
renderSceneInternal(B3_USE_PROJECTIVE_TEXTURE_RENDERMODE);
}
else

2
examples/SharedMemory/CMakeLists.txt
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@@ -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
)

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -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*/]);

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,

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -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
{

1
examples/pybullet/examples/projective_texture.py
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@@ -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:

1
examples/pybullet/pybullet.c
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@@ -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);

2
test/SharedMemory/CMakeLists.txt
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@@ -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)