void readPBO()

in mujoco_py/gl/eglshim.c [206:227]

• 18 lines of code
• 3 McCabe index (conditional complexity)

void readPBO(unsigned char *buffer_rgb, unsigned short *buffer_depth,
             unsigned int pbo_rgb, unsigned int pbo_depth,
             int width, int height, int batchSize)
{
    if (pbo_rgb > 0) {
        glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, pbo_rgb);

        GLubyte* src_rgb = (GLubyte*) glMapBufferARB(GL_PIXEL_PACK_BUFFER_ARB, GL_READ_ONLY_ARB);
        memcpy(buffer_rgb, src_rgb, batchSize * width * height * 3);

        glUnmapBuffer(GL_PIXEL_PACK_BUFFER_ARB);
    }
    if (pbo_depth > 0) {
        glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, pbo_depth);

        GLushort* src_depth = (GLushort*) glMapBufferARB(GL_PIXEL_PACK_BUFFER_ARB, GL_READ_ONLY_ARB);
        memcpy(buffer_depth, src_depth, batchSize * width * height * sizeof(GLushort));

        glUnmapBuffer(GL_PIXEL_PACK_BUFFER_ARB);
    }
    glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, 0);
}