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11 Commits

Author SHA1 Message Date
Chuyuan Fu
4da456054c Update PhysicsServerCommandProcessor and plugins to support render 2019-06-25 17:59:15 -07:00
erwincoumans
a9996088c8 Implement PyBullet.getCameraImage for PhysX backend. 
PhysX backend, allow arbitrary plane normal, a few other fixes.
 2019-02-24 14:09:42 -08:00
erwincoumans
a6244d714e more PyBullet PhysX preliminary work. 2019-01-25 10:14:54 -08:00
erwincoumans
ae8e83988b Add preliminary PhysX 4.0 backend for PyBullet 
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
 2019-01-22 21:08:37 -08:00
erwincoumans
f792a5951a move zipfFileIO into own header 
route loadTextureFile from fileIO plugin
fix B3_ENABLE_FILEIO_PLUGIN logic
 2018-10-11 10:58:14 -07:00
Erwin Coumans
74fca2418b fix egl plugin build, with fileIO changes 2018-10-09 08:00:31 -07:00
erwincoumans
2c13e70d1a make projective textures work in DIRECT+eglPlugin (see examples/pybullet/examples/projective_texture.py) 2018-10-05 19:24:44 -07:00
erwincoumans
ab8f16961e Code-style consistency improvement: 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
 2018-09-23 14:17:31 -07:00
erwincoumans
adb5c049c7 Thanks to @dchichkov for some of the fixes in the eglRendererPlugin! 
Rename tinyRenderer -> eglRenderer in the eglRendererPlugin.
Allow to run the eglRendererPlugin to run on Windows (not in EGL mode but Win32OpenGLWindow mode)

Here is a script I tested on Windows:
~~~~~~~~~~~~
mport pybullet as p
import time

p.connect(p.DIRECT)
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_eglRendererPlugin_vs2010_x64_debug.dll","_eglRendererPlugin")
print("plugin=",plugin)
p.setGravity(0,0,-10)
p.loadURDF("plane.urdf",[0,0,-1])
p.loadURDF("r2d2.urdf")
pixelWidth = 320
pixelHeight = 220
while (1):
	p.stepSimulation()
	viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
	projectionMatrix  = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]

	#img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	img_arr = p.getCameraImage(pixelWidth, pixelHeight, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	#print("img_arr=",img_arr)
	time.sleep(1)
~~~~~~~~~~~~~
 2018-09-09 13:37:49 -07:00
Max Argus
05f82e8867 egl plugin working 2018-08-30 13:24:25 +02:00
Max Argus
f80f0c76a4 added egl plugin commit 2018-08-30 13:24:25 +02:00