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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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30
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -60,6 +60,30 @@ struct b3RobotSimulatorLoadFileResults
}
};
struct b3RobotSimulatorChangeVisualShapeArgs
{
int m_objectUniqueId;
int m_linkIndex;
int m_shapeIndex;
int m_textureUniqueId;
btVector4 m_rgbaColor;
bool m_hasRgbaColor;
btVector3 m_specularColor;
bool m_hasSpecularColor;
b3RobotSimulatorChangeVisualShapeArgs()
:m_objectUniqueId(-1),
m_linkIndex(-1),
m_shapeIndex(-1),
m_textureUniqueId(-1),
m_rgbaColor(0,0,0,1),
m_hasRgbaColor(false),
m_specularColor(1,1,1),
m_hasSpecularColor(false)
{
}
};
struct b3RobotSimulatorJointMotorArgs
{
int m_controlMode;
@@ -505,6 +529,10 @@ public:
bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool saveBullet(const std::string& fileName);
int loadTexture(const std::string& fileName);
bool changeVisualShape(const struct b3RobotSimulatorChangeVisualShapeArgs& args);
bool savePythonWorld(const std::string& fileName);
bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
@@ -648,7 +676,7 @@ public:
bool getCollisionShapeData(int bodyUniqueId, int linkIndex, b3CollisionShapeInformation &collisionShapeInfo);
bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo);
bool getVisualShapeData(int bodyUniqueId, struct b3VisualShapeInformation &visualShapeInfo);
int saveStateToMemory();
void restoreStateFromMemory(int stateId);