Add pybullet.configureDebugVisualizer(rgbBackground=[red,green,blue]) (each component a float in the range [0,1])

This is an alternative to passing options="--background_color_red=red --background_color_green=green --background_color_blue=blue" in the connect method.

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -52,6 +52,8 @@ struct GUIHelperInterface
 	virtual int getShapeIndexFromInstance(int instanceUid) { return -1; }
 	virtual void replaceTexture(int shapeIndex, int textureUid) {}
 	virtual void removeTexture(int textureUid) {}
+	virtual void setBackgroundColor(const double rgbBackground[3]) {}
+	
 
 	virtual Common2dCanvasInterface* get2dCanvasInterface() = 0;
 

examples/CommonInterfaces/CommonRenderInterface.h

@@ -56,6 +56,8 @@ struct CommonRenderInterface
 
 	virtual void setLightPosition(const float lightPos[3]) = 0;
 	virtual void setLightPosition(const double lightPos[3]) = 0;
+	virtual void setBackgroundColor(const double rgbBackground[3]) = 0;
+	
 	virtual void setShadowMapResolution(int shadowMapResolution) = 0;
 	virtual void setShadowMapIntensity(double shadowMapIntensity) = 0;
 	

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -236,13 +236,19 @@ OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
 	m_data->m_debugDraw = 0;
 }
 
-OpenGLGuiHelper::~OpenGLGuiHelper()
+
+	OpenGLGuiHelper::~OpenGLGuiHelper()
 {
 	delete m_data->m_debugDraw;
 
 	delete m_data;
 }
 
+void OpenGLGuiHelper::setBackgroundColor(const double rgbBackground[3])
+{
+	this->getRenderInterface()->setBackgroundColor(rgbBackground);
+}
+
 struct CommonRenderInterface* OpenGLGuiHelper::getRenderInterface()
 {
 	return m_data->m_glApp->m_renderer;

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -36,7 +36,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual int getShapeIndexFromInstance(int instanceUid);
 	virtual void replaceTexture(int shapeIndex, int textureUid);
 	virtual void updateShape(int shapeIndex, float* vertices, int numVertices);
-
+	virtual void setBackgroundColor(const double rgbBackground[3]);
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -1522,6 +1522,11 @@ void GLInstancingRenderer::setLightPosition(const double lightPos[3])
 	m_data->m_lightPos[2] = lightPos[2];
 }
 
+void GLInstancingRenderer::setBackgroundColor(const double rgbBackground[3])
+{
+	glClearColor(rgbBackground[0], rgbBackground[1], rgbBackground[2], 1.f);
+}
+
 void GLInstancingRenderer::setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
 {
 	for (int i = 0; i < 16; i++)

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -127,7 +127,7 @@ public:
 	void setLightSpecularIntensity(const float lightSpecularIntensity[3]);
 	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
 	virtual void setProjectiveTexture(bool useProjectiveTexture);
-
+	virtual void setBackgroundColor(const double rgbBackground[3]);
 	virtual void resize(int width, int height);
 	virtual int getScreenWidth()
 	{

examples/OpenGLWindow/SimpleOpenGL2Renderer.h

@@ -30,6 +30,7 @@ public:
 	virtual void setShadowMapIntensity(double shadowMapIntensity) {}
 	virtual void setShadowMapWorldSize(float worldSize) {}
 	virtual void resize(int width, int height);
+	virtual void setBackgroundColor(const double rgbBackground[3]) {}
 
 	virtual void removeAllInstances();
 	virtual void removeGraphicsInstance(int instanceUid);

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -6064,6 +6064,21 @@ B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCom
 	}
 }
 
+B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightRgbBackground(b3SharedMemoryCommandHandle commandHandle, const float rgbBackground[3])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
+	if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
+	{
+		command->m_updateFlags |= COV_SET_RGB_BACKGROUND;
+		command->m_configureOpenGLVisualizerArguments.m_rgbBackground[0] = rgbBackground[0];
+		command->m_configureOpenGLVisualizerArguments.m_rgbBackground[1] = rgbBackground[1];
+		command->m_configureOpenGLVisualizerArguments.m_rgbBackground[2] = rgbBackground[2];
+	}
+}
+
+
 B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

examples/SharedMemory/PhysicsClientC_API.h

@@ -218,7 +218,9 @@ extern "C"
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle commandHandle, const float lightPosition[3]);
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution);
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapIntensity(b3SharedMemoryCommandHandle commandHandle, double shadowMapIntensity);
+	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightRgbBackground(b3SharedMemoryCommandHandle commandHandle, const float rgbBackground[3]);
 	
+
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle commandHandle, int shadowMapWorldSize);
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle commandHandle, double remoteSyncTransformInterval);
 	

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -11305,6 +11305,10 @@ bool PhysicsServerCommandProcessor::processConfigureOpenGLVisualizerCommand(cons
 		{
 			m_data->m_guiHelper->getRenderInterface()->setLightPosition(clientCmd.m_configureOpenGLVisualizerArguments.m_lightPosition);
 		}
+		if (clientCmd.m_updateFlags & COV_SET_RGB_BACKGROUND)
+		{
+			m_data->m_guiHelper->setBackgroundColor(clientCmd.m_configureOpenGLVisualizerArguments.m_rgbBackground);
+		}
 		if (clientCmd.m_updateFlags & COV_SET_SHADOWMAP_RESOLUTION)
 		{
 			m_data->m_guiHelper->getRenderInterface()->setShadowMapResolution(clientCmd.m_configureOpenGLVisualizerArguments.m_shadowMapResolution);

examples/SharedMemory/PhysicsServerExample.cpp

@@ -133,6 +133,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIUserDebugRemoveAllParameters,
 	eGUIHelperResetCamera,
 	eGUIHelperChangeGraphicsInstanceFlags,
+	eGUIHelperSetRgbBackground,
 };
 
 #include <stdio.h>
@@ -1058,7 +1059,17 @@ public:
 		workerThreadWait();
 	}
 
-	
+	double m_rgbBackground[3];
+	virtual void setBackgroundColor(const double rgbBackground[3])
+	{
+		m_rgbBackground[0] = rgbBackground[0];
+		m_rgbBackground[1] = rgbBackground[1];
+		m_rgbBackground[2] = rgbBackground[2];
+		m_cs->lock();
+		m_cs->setSharedParam(1, eGUIHelperSetRgbBackground);
+		workerThreadWait();
+		this->getRenderInterface()->setBackgroundColor(rgbBackground);
+	}
 
 
 	int m_graphicsInstanceChangeScaling;
@@ -2267,6 +2278,13 @@ void PhysicsServerExample::updateGraphics()
 			break;
 		}
 
+		case eGUIHelperSetRgbBackground:
+		{
+			m_multiThreadedHelper->m_childGuiHelper->setBackgroundColor(m_multiThreadedHelper->m_rgbBackground);
+			m_multiThreadedHelper->mainThreadRelease();
+			break;
+		}
+
 		case eGUIHelperChangeGraphicsInstanceScaling:
 		{
 			B3_PROFILE("eGUIHelperChangeGraphicsInstanceScaling");

examples/SharedMemory/SharedMemoryCommands.h

@@ -962,6 +962,7 @@ enum InternalOpenGLVisualizerUpdateFlags
 	COV_SET_SHADOWMAP_WORLD_SIZE = 16,
 	COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL = 32,
 	COV_SET_SHADOWMAP_INTENSITY = 64,
+	COV_SET_RGB_BACKGROUND = 128,
 };
 
 struct ConfigureOpenGLVisualizerRequest
@@ -977,6 +978,7 @@ struct ConfigureOpenGLVisualizerRequest
 	int m_setFlag;
 	int m_setEnabled;
 	double m_shadowMapIntensity;
+	double m_rgbBackground[3];
 };
 
 enum

examples/pybullet/pybullet.c

@@ -7450,11 +7450,12 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
 	int physicsClientId = 0;
 	double remoteSyncTransformInterval = -1;
 	PyObject* pyLightPosition = 0;
+	PyObject* pyRgbBackground = 0;
 	b3PhysicsClientHandle sm = 0;
-	static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "remoteSyncTransformInterval", "shadowMapIntensity", "physicsClientId", NULL};
+	static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "remoteSyncTransformInterval", "shadowMapIntensity", "rgbBackground", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiiddi", kwlist,
-									 &flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &remoteSyncTransformInterval, &shadowMapIntensity,  &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiiddOi", kwlist,
+									 &flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &remoteSyncTransformInterval, &shadowMapIntensity,  &pyRgbBackground, &physicsClientId))
 		return NULL;
 
 	sm = getPhysicsClient(physicsClientId);
@@ -7478,6 +7479,14 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
 				b3ConfigureOpenGLVisualizerSetLightPosition(commandHandle, lightPosition);
 			}
 		}
+		if (pyRgbBackground)
+		{
+			float rgbBackground[3];
+			if (pybullet_internalSetVector(pyRgbBackground, rgbBackground))
+			{
+				b3ConfigureOpenGLVisualizerSetLightRgbBackground(commandHandle, rgbBackground);
+			}
+		}
 		if (shadowMapIntensity >= 0)
 		{
 			b3ConfigureOpenGLVisualizerSetShadowMapIntensity(commandHandle, shadowMapIntensity);