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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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21
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5664,7 +5664,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{
int bodyUniqueId = clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId;
int linkIndex = clientCmd.m_updateVisualShapeDataArguments.m_jointIndex;
@@ -5680,7 +5679,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
//m_data->m_visualConverter.changeRGBAColor(...)
int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR)
{
m_data->m_guiHelper->changeSpecularColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_specularColor);
}
}
} else
{
@@ -5690,7 +5697,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
//m_data->m_visualConverter.changeRGBAColor(...)
int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR)
{
m_data->m_guiHelper->changeSpecularColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_specularColor);
}
}
}
}