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Add API to change texture with object id and link index.

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This commit is contained in:
yunfeibai
2016-10-21 11:55:27 -07:00
parent 4911b14271
commit 3d79961725
6 changed files with 63 additions and 11 deletions
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40
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -25,6 +25,9 @@ struct MyMotorInfo2
int camVisualizerWidth = 320;//1024/3;
int camVisualizerHeight = 240;//768/3;
int loadTextureCount = 0;
int setTextureCount = 0;
enum CustomCommands
{
CMD_CUSTOM_SET_REALTIME_SIMULATION = CMD_MAX_CLIENT_COMMANDS+1,
@@ -242,7 +245,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
{
case CMD_LOAD_URDF:
{
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model_white.urdf");
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf");
//setting the initial position, orientation and other arguments are optional
double startPosX = 0;
static double startPosY = 0;
@@ -260,9 +263,9 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");//kuka_iiwa/model.sdf");
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
*/
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "sphere_big.urdf");
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "table/table.urdf");
//setting the initial position, orientation and other arguments are optional
b3LoadUrdfCommandSetStartPosition(commandHandle,0.5,0.5,0.5);
b3LoadUrdfCommandSetStartPosition(commandHandle,2.0,2.0,0.5);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
@@ -489,15 +492,36 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
}
case CMD_UPDATE_VISUAL_SHAPE:
{
b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,8,0);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
if (setTextureCount == 0)
{
b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,1,0,0,0);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
else if (setTextureCount == 1)
{
b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,1,0,0,1);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
setTextureCount++;
if (setTextureCount >=2)
setTextureCount = 0;
break;
}
case CMD_LOAD_TEXTURE:
{
const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif";
b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
if (loadTextureCount == 0)
{
const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/cube.png";
b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
else if (loadTextureCount ==1)
{
const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif";
b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
loadTextureCount++;
break;
}
default: