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adb5c049c767a820b7cb9a32a5629c8e28033a8c
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212 Commits

Author SHA1 Message Date
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
425ecbd3e6 fix cmake, linux only (patch egl) 2018-08-30 13:24:25 +02:00
Max Argus
964a5116eb fix cmake + apple (patch egl) 2018-08-30 13:24:25 +02:00
Max Argus
902818894c fix cmake (patch egl) 2018-08-30 13:24:25 +02:00
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
Max Argus
1b95961617 fix build 2018-08-30 13:24:25 +02:00
Max Argus
a9ba3eb8cc fixed cmake 2018-08-30 13:24:25 +02:00
Max Argus
f0e7f266ef switched to new glad2 2018-08-30 13:24:25 +02:00
Max Argus
5dbf2373ad load gl with egl not glx 2018-08-30 13:24:25 +02:00
Max Argus
5e8ee98f2e fix OpenGL3App argument order 2018-08-30 13:24:25 +02:00
a
3d499c8a7a pybullet: added EGL render device and window_backend option. 
EGL review.
EGL dynamic loading, windowType to int
moved to glad2
Require GL 3.3 as GLInstancingRenderer.cpp uses glVertexAttribDivisor
glad2 update with dynamic X11 added
removed old file
build fix
fix mac/win
EGL w/o c++11, off by default
fix premake
fixup: premake fix 2
 2018-08-30 13:24:25 +02:00
Erwin Coumans
77c332bd88 PyBullet: add option to cache graphics shapes for URDF files, handy for benchmarks with many duplicate robots 
See https://github.com/erwincoumans/pybullet_robots ANYmal.py for an example.
PyBullet: Expose p.setPhysicsEngineParameter(solverResidualThreshold=1e-2) (b3PhysicsParamSetSolverResidualThreshold), increases solver performance a lot
PyBullet: Expose p.setPhysicsEngineParameter(contactSlop) Set it to zero, to avoid issues with restitution.
PyBullet: Expose isNumpyEnabled, return True is PyBullet was compiled with NUMPY support for 'getCameraImage'.
PyBullet: Expose p.ChangeDynamics(objectUid, linkIndex, contactProcessingThreshold), to avoid issues of speculative/predictive contacts with restitution.
See also http://twvideo01.ubm-us.net/o1/vault/gdc2012/slides/Programming%20Track/Vincent_ROBERT_Track_ADifferentApproach.pdf
 2018-05-23 13:26:00 +10:00
erwincoumans
034dfba3ae fix VR controllers only visible in one eye (remove stray glClear for testing planar reflection) 
PyBullet: force both contactStiffness and contactDamping (report error otherwise)
 2018-05-16 14:24:12 -07:00
YunfeiBai
e5036fbc3a Merge remote-tracking branch 'upstream/master' 2018-05-03 10:48:55 -07:00
YunfeiBai
aa6b8f66e9 Fixed a bug in projective texture shader. 2018-05-03 10:46:59 -07:00
Erwin Coumans
0c706eb08a fix some incompatibilities between google3/third_party/GL,EGL, glad 2018-05-03 09:06:30 -07:00
Erwin Coumans
85db288a95 App_PhysicsServer_SharedMemory_VR: expose max_num_object_capacity and max_shape_capacity_in_bytes (and shared_memory_key) 
Default values are:
int maxNumObjectCapacity = 128 * 1024;
int maxShapeCapacityInBytes = 128 * 1024 * 1024;
int shared_memory_key = -1
 2018-04-30 23:01:15 +02:00
erwincoumans
b53facfc25 Merge pull request #1629 from erwincoumans/master 
Preparation to add signed distance field collision detection.
 2018-04-12 00:02:25 -07:00
erwincoumans
c2869e0a3c enable planar reflection in minitaur_gym_env.py and locomotion scenes 2018-04-11 08:50:29 -07:00
erwincoumans
ffc808784b PyBullet: add planar reflection example, 
See examples/pybullet/examples/addPlanarReflection.py
 2018-04-11 01:03:36 -07:00
YunfeiBai
b032a1fd60 Update the projective texture shader to solve the texture interpolation artifact. 2018-04-09 17:15:42 -07:00
yunfeibai
6b97e1e604 Expose API to set projective texture instead of using global. 2018-03-20 21:28:47 -07:00
yunfeibai
37696dd87e Add Bullet C API and pybullet API to set projective texture matrices. 2018-03-18 18:45:54 -07:00
yunfeibai
fd7aa8d0e1 Expose using projective texture as a flag in pybullet getCameraImage API. 2018-03-18 17:01:23 -07:00
erwincoumans
94bc897067 Merge pull request #1574 from erwincoumans/master 
fix glx include
 2018-02-22 09:41:01 -08:00
Erwin Coumans
05b02d6b3e fix glx include 2018-02-22 09:08:10 -08:00
erwincoumans
90b34680b0 Merge pull request #1572 from erwincoumans/master 
explicitly remove textures during resetSimulation
 2018-02-22 08:37:03 -08:00
erwincoumans
73a4334e30 explicitly remove textures during resetSimulation 
move glViewport to Win32Window
 2018-02-21 23:22:16 -08:00
erwincoumans
3508a4523b Merge pull request #1560 from YunfeiBai/master 
Add shader and example for projective texture.
 2018-02-21 10:23:18 -08:00
erwincoumans
0e0b7cb9f8 glew->glad 2018-02-21 08:59:06 -08:00
Erwin Coumans
9288ea9c6a fix mac osx build 2018-02-21 08:16:00 -08:00
Erwin Coumans
c2b59776ed CMakeLists glew to glad 2018-02-20 21:09:31 -08:00
Erwin Coumans
dacafda88a use glad instead of glew in mac build and pybullet setup.py 2018-02-20 20:09:12 -08:00
Erwin Coumans
b0984de046 preparation to replace glew by glad 2018-02-20 19:44:02 -08:00
yunfeibai
5494aa72fa Set the perspective projection for projective texture mapping. Change the demo to two bears with the same view projection matrix for the camera and the projector. 2018-02-20 18:32:09 -08:00
Erwin Coumans
8bb40b632b allow to build GLFW version of Bullet examples on Linux (use premake4_linux --enable_glfw gmake) 2018-02-20 16:21:22 -08:00
erwincoumans
01f58f8f02 PyBullet: soft bodies are rendered, so we don't need to also render wireframes in regular mode. 
Use glBufferSubData instead of glMapBuffer/glUnmapBuffer, much faster soft body vertex sync.
Don't use a separate btSoftBodyWorldInfo, use the existing one in btSoftMultiBodyDynamicsWorld.
 2018-02-18 11:09:42 -08:00
yunfeibai
fb6907aa1b Merge remote-tracking branch 'upstream/master' 2018-02-15 18:19:29 -08:00
yunfeibai
36dcabbaf5 Merge remote-tracking branch 'upstream/master' 2018-02-15 14:31:34 -08:00
yunfeibai
cf4a0a3503 Add improvement/fix in SortableTransparentInstance back. 2018-02-15 13:19:41 -08:00
yunfeibai
7dbc5626fb Add the shader files. 2018-02-12 18:19:05 -08:00
yunfeibai
2947cd54ce Add shader for projective texture. 2018-02-11 21:29:02 -08:00
yunfeibai
08548e1ef0 Add example for projective texture. 2018-02-11 13:50:45 -08:00
Erwin Coumans
508550c5e9 fix premake build for linux, thanks to @consultit 
See also issue #1538
 2018-02-09 18:46:26 -08:00
Erwin Coumans
dcdec2236f PyBullet/rendering: improve sorting of transparent objects 2018-02-05 23:48:39 -08:00
erwincoumans
13d67e8fc3 add bicycle resources and testBike.py script (use python -m pybullet_envs.examples.testBike after pip install pybullet) 
center shadow around camera target
 2018-01-31 22:17:15 -08:00
Erwin Coumans
e97b751781 further work on urdfEditor.py, fix some serialization issues 2018-01-08 12:25:56 -08:00
erwincoumans
29aa9cb789 Bullet bump up to version 2.88 
add preliminary support to import btMultiBody from a .bullet file (will help save/restore state)
fix some Windows char/widechar issues
 2017-11-22 18:12:02 -08:00
d3x0r
8e75d4375b Fix missing DWORD variable (lost in merge port) 2017-10-28 14:50:44 -07:00