42 lines
1.2 KiB
Python
42 lines
1.2 KiB
Python
import pybullet as p
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import time
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p.connect(p.GUI)
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planeUidA = p.loadURDF("plane_transparent.urdf", [0, 0, 0])
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planeUid = p.loadURDF("plane_transparent.urdf", [0, 0, -1])
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texUid = p.loadTexture("tex256.png")
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p.changeVisualShape(planeUidA, -1, rgbaColor=[1, 1, 1, 0.5])
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p.changeVisualShape(planeUid, -1, rgbaColor=[1, 1, 1, 0.5])
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p.changeVisualShape(planeUid, -1, textureUniqueId=texUid)
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width = 256
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height = 256
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pixels = [255] * width * height * 3
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colorR = 0
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colorG = 0
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colorB = 0
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#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
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#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
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blue = 0
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logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "renderbench.json")
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for i in range(100000):
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p.stepSimulation()
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for i in range(width):
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for j in range(height):
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pixels[(i + j * width) * 3 + 0] = i
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pixels[(i + j * width) * 3 + 1] = (j + blue) % 256
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pixels[(i + j * width) * 3 + 2] = blue
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blue = blue + 1
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p.changeTexture(texUid, pixels, width, height)
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start = time.time()
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p.getCameraImage(300, 300, renderer=p.ER_BULLET_HARDWARE_OPENGL)
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end = time.time()
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print("rendering duraction")
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print(end - start)
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p.stopStateLogging(logId)
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#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
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#p.configureDebugVisualizer(p.COV_ENABLE_GUI,1)
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