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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/pybullet/pybullet.c
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@@ -4244,10 +4244,13 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
int statusType;
int physicsClientId = 0;
PyObject* rgbaColorObj = 0;
PyObject* specularColorObj = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"objectUniqueId", "linkIndex", "shapeIndex", "textureUniqueId", "rgbaColor", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iiOi", kwlist, &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId, &rgbaColorObj, &physicsClientId))
static char* kwlist[] = {"objectUniqueId", "linkIndex", "shapeIndex", "textureUniqueId", "rgbaColor", "specularColor", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iiOOi", kwlist, &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId, &rgbaColorObj, &specularColorObj, &physicsClientId))
{
return NULL;
}
@@ -4261,6 +4264,14 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
{
commandHandle = b3InitUpdateVisualShape(sm, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
if (specularColorObj)
{
double specularColor[3] = {1,1,1};
pybullet_internalSetVectord(specularColorObj, specularColor);
b3UpdateVisualShapeSpecularColor(commandHandle,specularColor);
}
if (rgbaColorObj)
{
double rgbaColor[4] = {1,1,1,1};