1 files changed, 150 insertions, 150 deletions
diff --git a/examples/pybullet/examples/rendertest.py b/examples/pybullet/examples/rendertest.py
index aa53b61a1..6e3d14b89 100644
--- a/examples/pybullet/examples/rendertest.py
+++ b/examples/pybullet/examples/rendertest.py
@@ -1,150 +1,150 @@
-#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
-#otherwise use testrender.py (slower but compatible without numpy)
-#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
-
-import os
-import sys
-import time
-import itertools
-import subprocess
-import numpy as np
-import pybullet
-from multiprocessing import Process
-
-camTargetPos = [0, 0, 0]
-cameraUp = [0, 0, 1]
-cameraPos = [1, 1, 1]
-
-pitch = -10.0
-roll = 0
-upAxisIndex = 2
-camDistance = 4
-pixelWidth = 84  # 320
-pixelHeight = 84  # 200
-nearPlane = 0.01
-farPlane = 100
-fov = 60
-
-import matplotlib.pyplot as plt
-
-
-class BulletSim():
-
-  def __init__(self, connection_mode, *argv):
-    self.connection_mode = connection_mode
-    self.argv = argv
-
-  def __enter__(self):
-    print("connecting")
-    optionstring = '--width={} --height={}'.format(pixelWidth, pixelHeight)
-    optionstring += ' --window_backend=2 --render_device=0'
-
-    print(self.connection_mode, optionstring, *self.argv)
-    cid = pybullet.connect(self.connection_mode, options=optionstring, *self.argv)
-    if cid < 0:
-      raise ValueError
-    print("connected")
-    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0)
-    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0)
-    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0)
-    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RGB_BUFFER_PREVIEW, 0)
-
-    pybullet.resetSimulation()
-    pybullet.loadURDF("plane.urdf", [0, 0, -1])
-    pybullet.loadURDF("r2d2.urdf")
-    pybullet.loadURDF("duck_vhacd.urdf")
-    pybullet.setGravity(0, 0, -10)
-
-  def __exit__(self, *_, **__):
-    pybullet.disconnect()
-
-
-def test(num_runs=300, shadow=1, log=True, plot=False):
-  if log:
-    logId = pybullet.startStateLogging(pybullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings")
-
-  if plot:
-    plt.ion()
-
-    img = np.random.rand(200, 320)
-    #img = [tandard_normal((50,100))
-    image = plt.imshow(img, interpolation='none', animated=True, label="blah")
-    ax = plt.gca()
-
-  times = np.zeros(num_runs)
-  yaw_gen = itertools.cycle(range(0, 360, 10))
-  for i, yaw in zip(range(num_runs), yaw_gen):
-    pybullet.stepSimulation()
-    start = time.time()
-    viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch,
-                                                            roll, upAxisIndex)
-    aspect = pixelWidth / pixelHeight
-    projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane)
-    img_arr = pybullet.getCameraImage(pixelWidth,
-                                      pixelHeight,
-                                      viewMatrix,
-                                      projectionMatrix,
-                                      shadow=shadow,
-                                      lightDirection=[1, 1, 1],
-                                      renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
-    #renderer=pybullet.ER_TINY_RENDERER)
-    stop = time.time()
-    duration = (stop - start)
-    if (duration):
-      fps = 1. / duration
-      #print("fps=",fps)
-    else:
-      fps = 0
-      #print("fps=",fps)
-    #print("duraction=",duration)
-    #print("fps=",fps)
-    times[i] = fps
-
-    if plot:
-      rgb = img_arr[2]
-      image.set_data(rgb)  #np_img_arr)
-      ax.plot([0])
-      #plt.draw()
-      #plt.show()
-      plt.pause(0.01)
-
-  mean_time = float(np.mean(times))
-  print("mean: {0} for {1} runs".format(mean_time, num_runs))
-  print("")
-  if log:
-    pybullet.stopStateLogging(logId)
-  return mean_time
-
-
-if __name__ == "__main__":
-
-  res = []
-
-  with BulletSim(pybullet.DIRECT):
-    print("\nTesting DIRECT")
-    mean_time = test(log=False, plot=True)
-    res.append(("tiny", mean_time))
-
-  with BulletSim(pybullet.DIRECT):
-    plugin_fn = os.path.join(
-        pybullet.__file__.split("bullet3")[0],
-        "bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so")
-    plugin = pybullet.loadPlugin(plugin_fn, "_tinyRendererPlugin")
-    if plugin < 0:
-      print("\nPlugin Failed to load!\n")
-      sys.exit()
-
-    print("\nTesting DIRECT+OpenGL")
-    mean_time = test(log=True)
-    res.append(("plugin", mean_time))
-
-  with BulletSim(pybullet.GUI):
-    print("\nTesting GUI")
-    mean_time = test(log=False)
-    res.append(("egl", mean_time))
-
-  print()
-  print("rendertest.py")
-  print("back nenv fps fps_tot")
-  for r in res:
-    print(r[0], "\t", 1, round(r[1]), "\t", round(r[1]))
+#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
+#otherwise use testrender.py (slower but compatible without numpy)
+#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
+
+import os
+import sys
+import time
+import itertools
+import subprocess
+import numpy as np
+import pybullet
+from multiprocessing import Process
+
+camTargetPos = [0, 0, 0]
+cameraUp = [0, 0, 1]
+cameraPos = [1, 1, 1]
+
+pitch = -10.0
+roll = 0
+upAxisIndex = 2
+camDistance = 4
+pixelWidth = 84  # 320
+pixelHeight = 84  # 200
+nearPlane = 0.01
+farPlane = 100
+fov = 60
+
+import matplotlib.pyplot as plt
+
+
+class BulletSim():
+
+  def __init__(self, connection_mode, *argv):
+    self.connection_mode = connection_mode
+    self.argv = argv
+
+  def __enter__(self):
+    print("connecting")
+    optionstring = '--width={} --height={}'.format(pixelWidth, pixelHeight)
+    optionstring += ' --window_backend=2 --render_device=0'
+
+    print(self.connection_mode, optionstring, *self.argv)
+    cid = pybullet.connect(self.connection_mode, options=optionstring, *self.argv)
+    if cid < 0:
+      raise ValueError
+    print("connected")
+    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0)
+    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0)
+    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0)
+    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RGB_BUFFER_PREVIEW, 0)
+
+    pybullet.resetSimulation()
+    pybullet.loadURDF("plane.urdf", [0, 0, -1])
+    pybullet.loadURDF("r2d2.urdf")
+    pybullet.loadURDF("duck_vhacd.urdf")
+    pybullet.setGravity(0, 0, -10)
+
+  def __exit__(self, *_, **__):
+    pybullet.disconnect()
+
+
+def test(num_runs=300, shadow=1, log=True, plot=False):
+  if log:
+    logId = pybullet.startStateLogging(pybullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings")
+
+  if plot:
+    plt.ion()
+
+    img = np.random.rand(200, 320)
+    #img = [tandard_normal((50,100))
+    image = plt.imshow(img, interpolation='none', animated=True, label="blah")
+    ax = plt.gca()
+
+  times = np.zeros(num_runs)
+  yaw_gen = itertools.cycle(range(0, 360, 10))
+  for i, yaw in zip(range(num_runs), yaw_gen):
+    pybullet.stepSimulation()
+    start = time.time()
+    viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch,
+                                                            roll, upAxisIndex)
+    aspect = pixelWidth / pixelHeight
+    projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane)
+    img_arr = pybullet.getCameraImage(pixelWidth,
+                                      pixelHeight,
+                                      viewMatrix,
+                                      projectionMatrix,
+                                      shadow=shadow,
+                                      lightDirection=[1, 1, 1],
+                                      renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
+    #renderer=pybullet.ER_TINY_RENDERER)
+    stop = time.time()
+    duration = (stop - start)
+    if (duration):
+      fps = 1. / duration
+      #print("fps=",fps)
+    else:
+      fps = 0
+      #print("fps=",fps)
+    #print("duraction=",duration)
+    #print("fps=",fps)
+    times[i] = fps
+
+    if plot:
+      rgb = img_arr[2]
+      image.set_data(rgb)  #np_img_arr)
+      ax.plot([0])
+      #plt.draw()
+      #plt.show()
+      plt.pause(0.01)
+
+  mean_time = float(np.mean(times))
+  print("mean: {0} for {1} runs".format(mean_time, num_runs))
+  print("")
+  if log:
+    pybullet.stopStateLogging(logId)
+  return mean_time
+
+
+if __name__ == "__main__":
+
+  res = []
+
+  with BulletSim(pybullet.DIRECT):
+    print("\nTesting DIRECT")
+    mean_time = test(log=False, plot=True)
+    res.append(("tiny", mean_time))
+
+  with BulletSim(pybullet.DIRECT):
+    plugin_fn = os.path.join(
+        pybullet.__file__.split("bullet3")[0],
+        "bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so")
+    plugin = pybullet.loadPlugin(plugin_fn, "_tinyRendererPlugin")
+    if plugin < 0:
+      print("\nPlugin Failed to load!\n")
+      sys.exit()
+
+    print("\nTesting DIRECT+OpenGL")
+    mean_time = test(log=True)
+    res.append(("plugin", mean_time))
+
+  with BulletSim(pybullet.GUI):
+    print("\nTesting GUI")
+    mean_time = test(log=False)
+    res.append(("egl", mean_time))
+
+  print()
+  print("rendertest.py")
+  print("back nenv fps fps_tot")
+  for r in res:
+    print(r[0], "\t", 1, round(r[1]), "\t", round(r[1]))