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Change texture for one body.

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This commit is contained in:
yunfeibai
2016-10-20 14:20:09 -07:00
parent 6ef96a4027
commit 35688e4ecf
2 changed files with 21 additions and 15 deletions
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2
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -242,7 +242,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
{ {
case CMD_LOAD_URDF: case CMD_LOAD_URDF:
{ {
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf"); b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model_white.urdf");
//setting the initial position, orientation and other arguments are optional //setting the initial position, orientation and other arguments are optional
double startPosX = 0; double startPosX = 0;
static double startPosY = 0; static double startPosY = 0;

34
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -833,20 +833,26 @@ void TinyRendererVisualShapeConverter::resetAll()
// Get shapeUniqueId from getVisualShapesData? // Get shapeUniqueId from getVisualShapesData?
void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId) void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId)
{ {
/*
// Use shapeUniqueId?
int objectArrayIndex = 0;
int objectIndex = 0;
TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(objectArrayIndex);
TinyRendererObjectArray* visualArray = *visualArrayPtr;
unsigned char textureImage[3] = {10, 10, 255};
int textureWidth = 1000;
int textureHeight = 1000;
visualArray->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
*/
// Use shapeUniqueId?
int objectArrayIndex = 1;
int objectIndex = 0;
printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size());
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(objectArrayIndex);
if (ptrptr && *ptrptr)
{
TinyRendererObjectArray* ptr = *ptrptr;
unsigned char textureImage[3] = {255, 0, 0};
int textureWidth = 1;
int textureHeight = 1;
ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
}
/*
int objectArrayIndex = 0; int objectArrayIndex = 0;
int objectIndex = 0; int objectIndex = 0;
printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size());
for (int i=0;i<m_data->m_swRenderInstances.size();i++) for (int i=0;i<m_data->m_swRenderInstances.size();i++)
{ {
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i); TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i);
@@ -854,10 +860,10 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, i
{ {
TinyRendererObjectArray* ptr = *ptrptr; TinyRendererObjectArray* ptr = *ptrptr;
unsigned char textureImage[3] = {255, 10, 10}; unsigned char textureImage[3] = {255, 10, 10};
int textureWidth = 1000; int textureWidth = 1;
int textureHeight = 1000; int textureHeight = 1;
ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight); ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
} }
} }
*/
} }