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allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE

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fix quadruped.py example.
add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
This commit is contained in:
Erwin Coumans
2018-01-11 21:04:08 -08:00
parent 22b4809891
commit 79051b7611
13 changed files with 986 additions and 55 deletions
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9
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -301,6 +301,15 @@ void OpenGLGuiHelper::changeTexture(int textureUniqueId, const unsigned char* rg
int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
if (textureId == -2)
{
if (m_data->m_checkedTextureGrey<0)
{
m_data->m_checkedTextureGrey = createCheckeredTexture(192, 192, 192);
}
textureId = m_data->m_checkedTextureGrey;
}
int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
return shapeId;
}