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setDebugObjectColor

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This commit is contained in:
erwincoumans
2016-11-21 07:42:11 -08:00
parent 1bc427df6b
commit 0d5dcb3cc5
11 changed files with 224 additions and 16 deletions
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51
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1195,6 +1195,46 @@ int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle)
return status->m_userDebugDrawArgs.m_debugItemUniqueId;
}
b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_USER_DEBUG_DRAW;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
command->m_updateFlags |= USER_DEBUG_SET_CUSTOM_OBJECT_COLOR;
command->m_userDebugDrawArgs.m_objectUniqueId = objectUniqueId;
command->m_userDebugDrawArgs.m_linkIndex = linkIndex;
command->m_userDebugDrawArgs.m_objectDebugColorRGB[0] = objectColorRGB[0];
command->m_userDebugDrawArgs.m_objectDebugColorRGB[1] = objectColorRGB[1];
command->m_userDebugDrawArgs.m_objectDebugColorRGB[2] = objectColorRGB[2];
}
void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
command->m_updateFlags |= USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR;
command->m_userDebugDrawArgs.m_objectUniqueId = objectUniqueId;
command->m_userDebugDrawArgs.m_linkIndex = linkIndex;
}
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient)
@@ -1244,6 +1284,17 @@ void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHa
command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION;
}
void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
for (int i = 0; i<3; i++)
{
command->m_requestPixelDataArguments.m_lightColor[i] = lightColor[i];
}
command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR;
}
void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16])
{