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implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support.

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pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor
Bug fixes in b3ResourcePath::findResourcePath resolution.
add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium
minor fixes to obj2sdf
This commit is contained in:
Erwin Coumans
2017-06-01 12:32:44 -07:00
parent 439e8c84cf
commit 87293e835c
36 changed files with 78766 additions and 87 deletions
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15
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2452,6 +2452,21 @@ void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, dou
}
}
void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_UPDATE_VISUAL_SHAPE);
if (command->m_type == CMD_UPDATE_VISUAL_SHAPE)
{
command->m_updateVisualShapeDataArguments.m_specularColor[0] = specularColor[0];
command->m_updateVisualShapeDataArguments.m_specularColor[1] = specularColor[1];
command->m_updateVisualShapeDataArguments.m_specularColor[2] = specularColor[2];
command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR;
}
}
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;