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revert backward compabitility in API

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This commit is contained in:
Erwin Coumans
2018-10-20 19:44:39 -07:00
parent 01a8a36933
commit 2d224cf319
5 changed files with 27 additions and 5 deletions
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23
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -4008,7 +4008,28 @@ B3_SHARED_API int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHa
return uid; return uid;
} }
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex) B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_UPDATE_VISUAL_SHAPE;
command->m_updateVisualShapeDataArguments.m_bodyUniqueId = bodyUniqueId;
command->m_updateVisualShapeDataArguments.m_jointIndex = jointIndex;
command->m_updateVisualShapeDataArguments.m_shapeIndex = shapeIndex;
command->m_updateVisualShapeDataArguments.m_textureUniqueId = textureUniqueId;
command->m_updateFlags = 0;
if (textureUniqueId >= 0)
{
command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_TEXTURE;
}
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape2(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex)
{ {
PhysicsClient* cl = (PhysicsClient*)physClient; PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl); b3Assert(cl);

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -308,7 +308,8 @@ extern "C"
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels); B3_SHARED_API b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex); B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape2(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex);
B3_SHARED_API void b3UpdateVisualShapeTexture(b3SharedMemoryCommandHandle commandHandle, int textureUniqueId); B3_SHARED_API void b3UpdateVisualShapeTexture(b3SharedMemoryCommandHandle commandHandle, int textureUniqueId);
B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, const double rgbaColor[/*4*/]); B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, const double rgbaColor[/*4*/]);
B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, const double specularColor[/*3*/]); B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, const double specularColor[/*3*/]);

2
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -497,7 +497,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
int shapeIndex = -1; int shapeIndex = -1;
int textureIndex = -2; int textureIndex = -2;
double rgbaColor[4] = {0.0, 1.0, 0.0, 1.0}; double rgbaColor[4] = {0.0, 1.0, 0.0, 1.0};
b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle, objectUniqueId, linkIndex, shapeIndex); b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape2(m_physicsClientHandle, objectUniqueId, linkIndex, shapeIndex);
b3UpdateVisualShapeRGBAColor(commandHandle, rgbaColor); b3UpdateVisualShapeRGBAColor(commandHandle, rgbaColor);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle); b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break; break;

2
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -190,7 +190,7 @@ bool b3RobotSimulatorClientAPI_NoDirect::changeVisualShape(const struct b3RobotS
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;
int statusType; int statusType;
commandHandle = b3InitUpdateVisualShape(m_data->m_physicsClientHandle, objectUniqueId, jointIndex, shapeIndex); commandHandle = b3InitUpdateVisualShape2(m_data->m_physicsClientHandle, objectUniqueId, jointIndex, shapeIndex);
if (textureUniqueId>=-1) if (textureUniqueId>=-1)
{ {

2
examples/pybullet/pybullet.c
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@@ -5606,7 +5606,7 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
} }
{ {
commandHandle = b3InitUpdateVisualShape(sm, objectUniqueId, jointIndex, shapeIndex); commandHandle = b3InitUpdateVisualShape2(sm, objectUniqueId, jointIndex, shapeIndex);
if (textureUniqueId>=-1) if (textureUniqueId>=-1)
{ {