def close(self):
try:
if self._connected:
if self._load_egl and self._plugin is not None:
pb.unloadPlugin(self._plugin,
physicsClientId=self.client_id)
pb.disconnect(physicsClientId=self.client_id)
except pb.error:
raise RuntimeError(pb.error)
def _disconnect_physic_clients(self):
if self._egl_plugin is not None:
p.unloadPlugin(self._egl_plugin)
for i in range(self._num_physic_clients):
p.disconnect(physicsClientId=i)
pixelWidth = 320
pixelHeight = 220
camTargetPos = [0,0,0]
camDistance = 4
pitch = -10.0
roll=0
upAxisIndex = 2
while (p.isConnected()):
for yaw in range (0,360,10) :
start = time.time()
p.stepSimulation()
stop = time.time()
print ("stepSimulation %f" % (stop - start))
#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]
viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
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]
start = time.time()
img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix=viewMatrix, projectionMatrix=projectionMatrix, shadow=1,lightDirection=[1,1,1])
stop = time.time()
print ("renderImage %f" % (stop - start))
#time.sleep(.1)
#print("img_arr=",img_arr)
p.unloadPlugin(plugin)
upAxisIndex = 2
while (p.isConnected()):
for yaw in range(0, 360, 10):
start = time.time()
p.stepSimulation()
stop = time.time()
print("stepSimulation %f" % (stop - start))
#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]
viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll,
upAxisIndex)
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
]
start = time.time()
img_arr = p.getCameraImage(pixelWidth,
pixelHeight,
viewMatrix=viewMatrix,
projectionMatrix=projectionMatrix,
shadow=1,
lightDirection=[1, 1, 1])
stop = time.time()
print("renderImage %f" % (stop - start))
#time.sleep(.1)
#print("img_arr=",img_arr)
p.unloadPlugin(plugin)
def disconnect(self):
if self.__egl_plugin is not None:
pb.unloadPlugin(self.__egl_plugin)
pb.disconnect()
def unload(self):
"""Unload plugin
"""
if self._plugin_id != -1:
pb.unloadPlugin(self._plugin_id, physicsClientId=self._client_id)
self._plugin_id = -1
def close(self):
if self._egl_plugin is not None:
p.unloadPlugin(self._egl_plugin)
p.disconnect()
def destroy(self):
""" Destroys the environment properly """
if self.use_egl_plugin:
p.unloadPlugin(self._plugin)