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Code Issues Releases Wiki Activity

Set light color in pybullet.

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This commit is contained in:
yunfeibai 2016-11-20 13:14:18 -08:00
parent 93ba8af023
commit be5b8a3d7b
1 changed files with 11 additions and 5 deletions
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16
examples/pybullet/pybullet.c
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@ -2209,17 +2209,18 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
/// Render an image from the current timestep of the simulation, width, height are required, other args are optional
// getCameraImage(w, h, view[16], projection[16], lightpos[3])
// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3])
static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds)
{
/// request an image from a simulated camera, using a software renderer.
struct b3CameraImageData imageData;
PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0;
PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
int width, height;
int size = PySequence_Size(args);
float viewMatrix[16];
float projectionMatrix[16];
float lightDir[3];
float lightColor[3];
// inialize cmd
b3SharedMemoryCommandHandle command;
@ -2232,9 +2233,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
command = b3InitRequestCameraImage(sm);
// set camera resolution, optionally view, projection matrix, light direction
static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection",NULL };
static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOO", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOO", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj))
{
return NULL;
}
@ -2245,11 +2246,16 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
{
b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix);
}
//set light pos only if function succeeds
//set light direction only if function succeeds
if (pybullet_internalSetVector(lightDirObj, lightDir))
{
b3RequestCameraImageSetLightDirection(command, lightDir);
}
//set light color only if function succeeds
if (pybullet_internalSetVector(lightColorObj, lightColor))
{
b3RequestCameraImageSetLightColor(command, lightColor);
}
if (b3CanSubmitCommand(sm))