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PyBullet: allow to update an existing heightfield shape

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Also, use flags = p.GEOM_CONCAVE_INTERNAL_EDGE to enable internal edge filtering for heightfield (disabled by default)
See https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py
This commit is contained in:
Erwin Coumans
2019-08-14 21:06:10 -07:00
parent c7fa8bfc58
commit 88d1788ee5
11 changed files with 201 additions and 44 deletions
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6
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1340,6 +1340,8 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHand
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_heightfieldTextureScaling = textureScaling;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = -1;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = -1;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_replaceHeightfieldIndex = -1;
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
@@ -1347,7 +1349,7 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHand
return -1;
}
B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns)
B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns, int replaceHeightfieldIndex)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
@@ -1370,6 +1372,8 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle ph
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_heightfieldTextureScaling = textureScaling;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = numHeightfieldRows;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = numHeightfieldColumns;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_replaceHeightfieldIndex = replaceHeightfieldIndex;
cl->uploadBulletFileToSharedMemory((const char*)heightfieldData, numHeightfieldRows*numHeightfieldColumns* sizeof(float));
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;