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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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74
examples/pybullet/pybullet.c
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@@ -1433,7 +1433,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
int i;
for (i = 0; i < numControlledDofs; i++)
{
int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
int jointIndex = pybullet_internalGetIntFromSequence(jointIndicesSeq, i);
if ((jointIndex >= numJoints) || (jointIndex < 0))
{
Py_DECREF(jointIndicesSeq);
@@ -4551,6 +4551,75 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
return Py_None;
}
static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryCommandHandle commandHandle = 0;
b3SharedMemoryStatusHandle statusHandle=0;
int statusType = -1;
int textureUniqueId = -1;
int physicsClientId = 0;
int width=-1;
int height=-1;
PyObject* pixelsObj = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"textureUniqueId", "pixels", "width", "height", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOii|i", kwlist, &textureUniqueId, &pixelsObj, &width, &height, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (textureUniqueId>=0 && width>=0 && height>=0 && pixelsObj)
{
PyObject* seqPixels = PySequence_Fast(pixelsObj, "expected a sequence");
PyObject* item;
int i;
int numPixels = width*height;
unsigned char* pixelBuffer = (char*) malloc (numPixels*3);
if (PyList_Check(seqPixels))
{
for (i=0;i<numPixels*3;i++)
{
item = PyList_GET_ITEM(seqPixels, i);
pixelBuffer[i] = PyLong_AsLong(item);
}
} else
{
for (i=0;i<numPixels*3;i++)
{
item = PyTuple_GET_ITEM(seqPixels, i);
pixelBuffer[i] = PyLong_AsLong(item);
}
}
commandHandle = b3CreateChangeTextureCommandInit(sm,textureUniqueId, width,height,pixelBuffer);
free(pixelBuffer);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CLIENT_COMMAND_COMPLETED)
{
Py_INCREF(Py_None);
return Py_None;
} else
{
PyErr_SetString(SpamError, "Error processing changeTexture.");
return NULL;
}
}
PyErr_SetString(SpamError, "Error: invalid arguments in changeTexture.");
return NULL;
}
static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject* keywds)
{
const char* filename = 0;
@@ -7029,6 +7098,9 @@ static PyMethodDef SpamMethods[] = {
{"loadTexture", (PyCFunction)pybullet_loadTexture, METH_VARARGS | METH_KEYWORDS,
"Load texture file."},
{"changeTexture", (PyCFunction)pybullet_changeTexture, METH_VARARGS | METH_KEYWORDS,
"Change a texture file."},
{"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS,
"Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to "
"quaternion [x,y,z,w]"},