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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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18
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -671,13 +671,15 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
visualShape.m_rgbaColor[1] = rgbaColor[1];
visualShape.m_rgbaColor[2] = rgbaColor[2];
visualShape.m_rgbaColor[3] = rgbaColor[3];
visualShape.m_openglTextureId = -1;
visualShape.m_tinyRendererTextureId = -1;
visualShape.m_textureUniqueId = -1;
{
B3_PROFILE("convertURDFToVisualShape");
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices, textures, visualShape);
}
m_data->m_visualShapes.push_back(visualShape);
if (vertices.size() && indices.size())
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId, linkIndex);
@@ -701,13 +703,15 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
}
visuals->m_renderObjects.push_back(tinyObj);
}
btAssert(textures.size()<=1);
for (int i=0;i<textures.size();i++)
{
if (!textures[i].m_isCached)
{
free(textures[i].textureData1);
}
visualShape.m_tinyRendererTextureId = m_data->m_textures.size();
m_data->m_textures.push_back(textures[i]);
}
m_data->m_visualShapes.push_back(visualShape);
}
}
}
@@ -1199,13 +1203,13 @@ void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, in
for (int v = 0; v < visualArray->m_renderObjects.size(); v++)
{
TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v];
if ((shapeIndex < 0) || (shapeIndex == v))
{
renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData1, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
}
}
}
}
}
}