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Code Issues Releases Wiki Activity

Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans 2016-07-08 08:20:16 -07:00
commit 35b260b252
1 changed files with 84 additions and 2 deletions
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84
examples/pybullet/pybullet.c
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@ -948,6 +948,32 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16])
return 0;
}
// internal function to set a float vector[3]
// used to initialize camera position with
// a view and projection matrix in renderImage()
//
// // Args:
// matrix - float[16] which will be set by values from objMat
static int pybullet_internalSetVector(PyObject* objMat, float vector[3])
{
int i, len;
PyObject* seq;
seq = PySequence_Fast(objMat, "expected a sequence");
len = PySequence_Size(objMat);
if (len==3)
{
for (i = 0; i < len; i++)
{
vector[i] = pybullet_internalGetFloatFromSequence(seq,i);
}
Py_DECREF(seq);
return 1;
}
Py_DECREF(seq);
return 0;
}
// Render an image from the current timestep of the simulation
//
// Examples:
@ -967,11 +993,22 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
///request an image from a simulated camera, using a software renderer.
struct b3CameraImageData imageData;
PyObject* objViewMat,* objProjMat;
PyObject* objCameraPos,*objTargetPos,* objCameraUp;
int width, height;
int size= PySequence_Size(args);
float viewMatrix[16];
float projectionMatrix[16];
float cameraPos[3];
float targetPos[3];
float cameraUp[3];
float left, right, bottom, top, aspect;
float nearVal, farVal;
// float nearVal = .001;
// float farVal = 1000;
// inialize cmd
b3SharedMemoryCommandHandle command;
@ -1007,6 +1044,47 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
}
}
if (size==7) // set camera resoluation and view and projection matrix
{
if (PyArg_ParseTuple(args, "iiOOOii", &width, &height, &objCameraPos, &objTargetPos, &objCameraUp, &nearVal, &farVal))
{
b3RequestCameraImageSetPixelResolution(command,width,height);
if (pybullet_internalSetVector(objCameraPos, cameraPos) &&
pybullet_internalSetVector(objTargetPos, targetPos) &&
pybullet_internalSetVector(objCameraUp, cameraUp))
{
// printf("\ncamera pos:\n");
// for(int i =0;i<3; i++) {
// printf(" %f", cameraPos[i]);
// }
//
// printf("\ntargetPos pos:\n");
// for(int i =0;i<3; i++) {
// printf(" %f", targetPos[i]);
// }
//
// printf("\ncameraUp pos:\n");
// for(int i =0;i<3; i++) {
// printf(" %f", cameraUp[i]);
// }
// printf("\n");
b3RequestCameraImageSetViewMatrix(command, cameraPos, targetPos, cameraUp);
// printf("\n");
}
aspect = width/height;
left = -aspect * nearVal;
right = aspect * nearVal;
bottom = -nearVal;
top = nearVal;
b3RequestCameraImageSetProjectionMatrix(command, left, right, bottom, top, nearVal, farVal);
// printf("\n");
}
}
if (b3CanSubmitCommand(sm))
{
b3SharedMemoryStatusHandle statusHandle;
@ -1387,7 +1465,7 @@ static PyMethodDef SpamMethods[] = {
"for objectUniqueId, linkIndex (-1 for base/root link) apply a torque [x,y,z] in Cartesian coordinates, flag to select TORQUE_IN_LINK_FRAME or TORQUE_IN_WORLD_FRAME coordinates"},
{"renderImage", pybullet_renderImage, METH_VARARGS,
"Render an image (given the pixel resolution width & height and camera view & projection matrices), and return the 8-8-8bit RGB pixel data and floating point depth values"},
"Render an image (given the pixel resolution width, height, camera view matrix, projection matrix, near, and far values), and return the 8-8-8bit RGB pixel data and floating point depth values"},
{"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS,
"Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to quaternion [x,y,z,w]"},
@ -1403,6 +1481,10 @@ static PyMethodDef SpamMethods[] = {
//collision info
//raycast info
//applyBaseForce
//applyLinkForce
{NULL, NULL, 0, NULL} /* Sentinel */
};