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add user debug line/text features in pybullet + shared memory API:

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addUserDebugLine,
addUserDebugText
removeUserDebugItem
removeAllUserDebugItems
This commit is contained in:
Erwin Coumans
2016-11-14 07:39:34 -08:00
parent d49e3d787a
commit c521d816c6
17 changed files with 809 additions and 35 deletions
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14
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -527,7 +527,11 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
visualShape.m_localInertiaFrame[4] = localInertiaFrame.getRotation()[1];
visualShape.m_localInertiaFrame[5] = localInertiaFrame.getRotation()[2];
visualShape.m_localInertiaFrame[6] = localInertiaFrame.getRotation()[3];
visualShape.m_rgbaColor[0] = rgbaColor[0];
visualShape.m_rgbaColor[1] = rgbaColor[1];
visualShape.m_rgbaColor[2] = rgbaColor[2];
visualShape.m_rgbaColor[3] = rgbaColor[3];
convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures, visualShape);
m_data->m_visualShapes.push_back(visualShape);
@@ -872,10 +876,14 @@ int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int
return m_data->m_textures.size()-1;
}
void TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
{
int width,height,n;
unsigned char* image=0;
image = stbi_load(filename, &width, &height, &n, 3);
registerTexture(image, width, height);
if (image && (width>=0) && (height>=0))
{
return registerTexture(image, width, height);
}
return -1;
}