<reponame>frk2/bullet3
import pybullet as p
import time
p.connect(p.GUI)
planeUidA = p.loadURDF("plane_transparent.urdf",[0,0,0])
planeUid = p.loadURDF("plane_transparent.urdf",[0,0,-1])

texUid = p.loadTexture("tex256.png")

p.changeVisualShape(planeUidA,-1,rgbaColor=[1,1,1,0.5])
p.changeVisualShape(planeUid,-1,rgbaColor=[1,1,1,0.5])
p.changeVisualShape(planeUid,-1, textureUniqueId = texUid)

width = 256
height = 256
pixels = [255]*width*height*3
colorR = 0
colorG = 0
colorB = 0


#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)

blue=0
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "renderbench.json")
for i in range (100000):
	p.stepSimulation()
	for i in range (width):
		for j in range(height):
			pixels[(i+j*width)*3+0]=i
			pixels[(i+j*width)*3+1]=(j+blue)%256
			pixels[(i+j*width)*3+2]=blue
	blue=blue+1
	p.changeTexture(texUid, pixels,width,height)
	start = time.time()
	p.getCameraImage(300,300,renderer=p.ER_BULLET_HARDWARE_OPENGL)
	end = time.time()
	print("rendering duraction")
	print(end-start)
p.stopStateLogging(logId)
#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,1)


import pybullet as p
import time
p.connect(p.GUI)
planeUidA = p.loadURDF("plane_transparent.urdf",[0,0,0])
planeUid = p.loadURDF("plane_transparent.urdf",[0,0,-1])

texUid = p.loadTexture("tex256.png")

p.changeVisualShape(planeUidA,-1,rgbaColor=[1,1,1,0.5])
p.changeVisualShape(planeUid,-1,rgbaColor=[1,1,1,0.5])
p.changeVisualShape(planeUid,-1, textureUniqueId = texUid)

width = 256
height = 256
pixels = [255]*width*height*3
colorR = 0
colorG = 0
colorB = 0


#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)

blue=0
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "renderbench.json")
for i in range (100000):
	p.stepSimulation()
	for i in range (width):
		for j in range(height):
			pixels[(i+j*width)*3+0]=i
			pixels[(i+j*width)*3+1]=(j+blue)%256
			pixels[(i+j*width)*3+2]=blue
	blue=blue+1
	p.changeTexture(texUid, pixels,width,height)
	start = time.time()
	p.getCameraImage(300,300,renderer=p.ER_BULLET_HARDWARE_OPENGL)
	end = time.time()
	print("rendering duraction")
	print(end-start)
p.stopStateLogging(logId)
#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,1)
#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) #p.configureDebugVisualizer(p.COV_ENABLE_GUI,0) #p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) #p.configureDebugVisualizer(p.COV_ENABLE_GUI,1)