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implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added)

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See also examples\pybullet\examples\changeTexture.py
This commit is contained in:
Erwin Coumans
2017-06-30 19:11:43 -07:00
parent dd3d55610b
commit 88897cc744
15 changed files with 241 additions and 14 deletions
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19
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2918,6 +2918,25 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
}
}
b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CHANGE_TEXTURE;
command->m_changeTextureArgs.m_textureUniqueId = textureUniqueId;
command->m_changeTextureArgs.m_width = width;
command->m_changeTextureArgs.m_height = height;
int numPixels = width*height;
cl->uploadBulletFileToSharedMemory(rgbPixels,numPixels*3);
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;