adb5c049c7
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:
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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)
~~~~~~~~~~~~~
55 lines
1.2 KiB
C++
55 lines
1.2 KiB
C++
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//eglRenderer plugin
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//see Bullet/examples/pybullet/examples/eglRendererTest.py
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#include "eglRendererPlugin.h"
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#include "eglRendererVisualShapeConverter.h"
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#include "../../SharedMemoryPublic.h"
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#include "../b3PluginContext.h"
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#include <stdio.h>
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struct EGLRendererPluginClass
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{
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EGLRendererVisualShapeConverter m_renderer;
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EGLRendererPluginClass()
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{
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}
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virtual ~EGLRendererPluginClass()
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{
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}
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};
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B3_SHARED_API int initPlugin_eglRendererPlugin(struct b3PluginContext* context)
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{
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EGLRendererPluginClass* obj = new EGLRendererPluginClass();
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context->m_userPointer = obj;
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return SHARED_MEMORY_MAGIC_NUMBER;
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}
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B3_SHARED_API int executePluginCommand_eglRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
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{
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return -1;
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}
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B3_SHARED_API void exitPlugin_eglRendererPlugin(struct b3PluginContext* context)
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{
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EGLRendererPluginClass* obj = (EGLRendererPluginClass*) context->m_userPointer;
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delete obj;
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context->m_userPointer = 0;
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}
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//all the APIs below are optional
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B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_eglRendererPlugin(struct b3PluginContext* context)
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{
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EGLRendererPluginClass* obj = (EGLRendererPluginClass*) context->m_userPointer;
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return &obj->m_renderer;
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}
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