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expose texture unique id after loading URD file, so you can restore to the original texture after changing it to a custom texture. See also getTextureUid.py example.

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This commit is contained in:
Erwin Coumans
2018-07-08 11:23:12 +02:00
parent bfc85ff1fd
commit 127b82ec1b
8 changed files with 227 additions and 26 deletions
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86
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -155,6 +155,69 @@ btVector3 b3RobotSimulatorClientAPI_NoDirect::getEulerFromQuaternion(const btQua
return rpy2;
}
int b3RobotSimulatorClientAPI_NoDirect::loadTexture(const std::string& fileName)
{
if (!isConnected())
{
b3Warning("Not connected");
return -1;
}
btAssert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
{
commandHandle = b3InitLoadTexture(m_data->m_physicsClientHandle, fileName.c_str());
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_LOAD_TEXTURE_COMPLETED)
{
return b3GetStatusTextureUniqueId(statusHandle);
}
}
return -1;
}
bool b3RobotSimulatorClientAPI_NoDirect::changeVisualShape(const struct b3RobotSimulatorChangeVisualShapeArgs& args)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
int objectUniqueId = args.m_objectUniqueId;
int jointIndex = args.m_linkIndex;
int shapeIndex = args.m_shapeIndex;
int textureUniqueId = args.m_textureUniqueId;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
commandHandle = b3InitUpdateVisualShape(m_data->m_physicsClientHandle, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
if (args.m_hasSpecularColor)
{
double specularColor[3] = {args.m_specularColor[0],args.m_specularColor[1],args.m_specularColor[2]};
b3UpdateVisualShapeSpecularColor(commandHandle,specularColor);
}
if (args.m_hasRgbaColor)
{
double rgbaColor[4] = {args.m_rgbaColor[0],args.m_rgbaColor[1],args.m_rgbaColor[2],args.m_rgbaColor[3]};
b3UpdateVisualShapeRGBAColor(commandHandle,rgbaColor);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
statusType = b3GetStatusType(statusHandle);
return (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED);
}
int b3RobotSimulatorClientAPI_NoDirect::loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args)
{
int robotUniqueId = -1;
@@ -2177,7 +2240,8 @@ void b3RobotSimulatorClientAPI_NoDirect::restoreStateFromMemory(int stateId)
bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
if (sm == 0)
{
b3Warning("Not connected");
return false;
}
@@ -2185,17 +2249,17 @@ bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3
b3SharedMemoryStatusHandle statusHandle;
int statusType;
{
commandHandle = b3InitRequestVisualShapeInformation(sm, bodyUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
commandHandle = b3InitRequestVisualShapeInformation(sm, bodyUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
btAssert(statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED);
if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED) {
b3GetVisualShapeInformation(sm, &visualShapeInfo);
}
return true;
}
btAssert(statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED);
if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
b3GetVisualShapeInformation(sm, &visualShapeInfo);
return true;
}
return false;
}
void b3RobotSimulatorClientAPI_NoDirect::setAdditionalSearchPath(const std::string& path)