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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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23
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -127,6 +127,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIHelperChangeTexture,
eGUIHelperRemoveTexture,
eGUIHelperSetVisualizerFlagCheckRenderedFrame,
eGUIHelperUpdateShape,
};
#include <stdio.h>
@@ -865,6 +866,18 @@ public:
workerThreadWait();
}
int m_updateShapeIndex;
float* m_updateShapeVertices;
virtual void updateShape(int shapeIndex, float* vertices)
{
m_updateShapeIndex = shapeIndex;
m_updateShapeVertices = vertices;
m_cs->lock();
m_cs->setSharedParam(1, eGUIHelperUpdateShape);
workerThreadWait();
}
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
int* cachedTexture = m_cachedTextureIds[texels];
@@ -1916,6 +1929,15 @@ void PhysicsServerExample::updateGraphics()
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperUpdateShape:
{
B3_PROFILE("eGUIHelperUpdateShape");
m_multiThreadedHelper->m_childGuiHelper->updateShape(m_multiThreadedHelper->m_updateShapeIndex, m_multiThreadedHelper->m_updateShapeVertices);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperRegisterGraphicsShape:
{
B3_PROFILE("eGUIHelperRegisterGraphicsShape");
@@ -2039,6 +2061,7 @@ void PhysicsServerExample::updateGraphics()
break;
}
case eGUIHelperSetVisualizerFlagCheckRenderedFrame:
{
if (m_renderedFrames != m_multiThreadedHelper->m_renderedFrames)