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Implement first draft of pybullet.createVisualShape and add createVisualShape.py example

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add normals to duck.obj for nicer appearance
fix plane100.urdf (so collision shape matches visual shape size)
This commit is contained in:
erwincoumans
2017-10-07 18:50:23 -07:00
parent 1034c7e720
commit cec8da3d85
12 changed files with 9018 additions and 6538 deletions
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261
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -775,7 +775,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3Ph
b3Assert(command);
command->m_type = CMD_CREATE_COLLISION_SHAPE;
command->m_updateFlags =0;
command->m_createCollisionShapeArgs.m_numCollisionShapes = 0;
command->m_createUserShapeArgs.m_numUserShapes = 0;
return (b3SharedMemoryCommandHandle) command;
}
return 0;
@@ -785,138 +785,170 @@ B3_SHARED_API int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle co
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
int shapeIndex = command->m_createCollisionShapeArgs.m_numCollisionShapes;
int shapeIndex = command->m_createUserShapeArgs.m_numUserShapes;
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_SPHERE;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_sphereRadius = radius;
command->m_createCollisionShapeArgs.m_numCollisionShapes++;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_type = GEOM_SPHERE;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_sphereRadius = radius;
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
}
return -1;
}
B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius)
{
return b3CreateCollisionShapeAddSphere(commandHandle,radius);
}
B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
int shapeIndex = command->m_createCollisionShapeArgs.m_numCollisionShapes;
int shapeIndex = command->m_createUserShapeArgs.m_numUserShapes;
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_BOX;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[0] = halfExtents[0];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[1] = halfExtents[1];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[2] = halfExtents[2];
command->m_createCollisionShapeArgs.m_numCollisionShapes++;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_type = GEOM_BOX;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[0] = halfExtents[0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[1] = halfExtents[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[2] = halfExtents[2];
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
}
return -1;
}
B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[/*3*/])
{
return b3CreateCollisionShapeAddBox(commandHandle,halfExtents);
}
B3_SHARED_API int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,double radius, double height)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
int shapeIndex = command->m_createCollisionShapeArgs.m_numCollisionShapes;
int shapeIndex = command->m_createUserShapeArgs.m_numUserShapes;
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CAPSULE;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height;
command->m_createCollisionShapeArgs.m_numCollisionShapes++;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CAPSULE;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height;
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
}
return -1;
}
B3_SHARED_API int b3CreateVisualShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,double radius, double height)
{
return b3CreateCollisionShapeAddCapsule(commandHandle,radius,height);
}
B3_SHARED_API int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle,double radius, double height)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
int shapeIndex = command->m_createCollisionShapeArgs.m_numCollisionShapes;
int shapeIndex = command->m_createUserShapeArgs.m_numUserShapes;
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CYLINDER;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height;
command->m_createCollisionShapeArgs.m_numCollisionShapes++;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CYLINDER;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height;
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
}
return -1;
}
B3_SHARED_API int b3CreateVisualShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle,double radius, double height)
{
return b3CreateCollisionShapeAddCylinder(commandHandle,radius,height);
}
B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[3], double planeConstant)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
int shapeIndex = command->m_createCollisionShapeArgs.m_numCollisionShapes;
int shapeIndex = command->m_createUserShapeArgs.m_numUserShapes;
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_PLANE;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[0] = planeNormal[0];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[1] = planeNormal[1];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[2] = planeNormal[2];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeConstant = planeConstant;
command->m_createCollisionShapeArgs.m_numCollisionShapes++;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_type = GEOM_PLANE;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_planeNormal[0] = planeNormal[0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_planeNormal[1] = planeNormal[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_planeNormal[2] = planeNormal[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_planeConstant = planeConstant;
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
}
return -1;
}
B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[/*3*/], double planeConstant)
{
return b3CreateCollisionShapeAddPlane(commandHandle,planeNormal,planeConstant);
}
B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,const char* fileName, double meshScale[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
int shapeIndex = command->m_createUserShapeArgs.m_numUserShapes;
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES && strlen(fileName)<VISUAL_SHAPE_MAX_PATH_LEN)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_type = GEOM_MESH;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
strcpy(command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileName,fileName);
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[1] = meshScale[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[2] = meshScale[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileType = 0;
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
}
return -1;
}
B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,const char* fileName, double meshScale[3])
B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,const char* fileName, double meshScale[/*3*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
{
int shapeIndex = command->m_createCollisionShapeArgs.m_numCollisionShapes;
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES && strlen(fileName)<VISUAL_SHAPE_MAX_PATH_LEN)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_MESH;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
strcpy(command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshFileName,fileName);
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshScale[1] = meshScale[1];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshScale[2] = meshScale[2];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshFileType = 0;
command->m_createCollisionShapeArgs.m_numCollisionShapes++;
return shapeIndex;
}
}
return -1;
return b3CreateCollisionShapeAddMesh(commandHandle,fileName,meshScale);
}
B3_SHARED_API void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags)
@@ -924,38 +956,80 @@ B3_SHARED_API void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandH
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
if (shapeIndex<command->m_createCollisionShapeArgs.m_numCollisionShapes)
if (shapeIndex<command->m_createUserShapeArgs.m_numUserShapes)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags |= flags;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags |= flags;
}
}
}
B3_SHARED_API void b3CreateVisualSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags)
{
b3CreateCollisionSetFlag(commandHandle,shapeIndex,flags);
}
B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[3], double childOrientation[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
if (shapeIndex<command->m_createCollisionShapeArgs.m_numCollisionShapes)
if (shapeIndex<command->m_createUserShapeArgs.m_numUserShapes)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 1;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childPosition[0] = childPosition[0];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childPosition[1] = childPosition[1];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childPosition[2] = childPosition[2];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childOrientation[0] = childOrientation[0];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childOrientation[1] = childOrientation[1];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childOrientation[2] = childOrientation[2];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childOrientation[3] = childOrientation[3];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 1;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_childPosition[0] = childPosition[0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_childPosition[1] = childPosition[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_childPosition[2] = childPosition[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_childOrientation[0] = childOrientation[0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_childOrientation[1] = childOrientation[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_childOrientation[2] = childOrientation[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_childOrientation[3] = childOrientation[3];
}
}
}
B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/])
{
b3CreateCollisionShapeSetChildTransform(commandHandle,shapeIndex,childPosition,childOrientation);
}
B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double rgbaColor[/*4*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
if (shapeIndex<command->m_createUserShapeArgs.m_numUserShapes)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_rgbaColor[0] = rgbaColor[0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_rgbaColor[1] = rgbaColor[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_rgbaColor[2] = rgbaColor[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_rgbaColor[3] = rgbaColor[3];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags |= GEOM_VISUAL_HAS_RGBA_COLOR;
}
}
}
B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double specularColor[/*3*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE)|| (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
if (shapeIndex<command->m_createUserShapeArgs.m_numUserShapes)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_specularColor[0] = specularColor[0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_specularColor[1] = specularColor[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_specularColor[2] = specularColor[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags |= GEOM_VISUAL_HAS_SPECULAR_COLOR;
}
}
}
B3_SHARED_API int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
@@ -964,7 +1038,7 @@ B3_SHARED_API int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle s
b3Assert(status->m_type == CMD_CREATE_COLLISION_SHAPE_COMPLETED);
if (status && status->m_type == CMD_CREATE_COLLISION_SHAPE_COMPLETED)
{
return status->m_createCollisionShapeResultArgs.m_collisionShapeUniqueId;
return status->m_createUserShapeResultArgs.m_userShapeUniqueId;
}
return -1;
}
@@ -981,11 +1055,20 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3Physi
b3Assert(command);
command->m_type = CMD_CREATE_VISUAL_SHAPE;
command->m_updateFlags =0;
command->m_createUserShapeArgs.m_numUserShapes= 0;
return (b3SharedMemoryCommandHandle) command;
}
return 0;
}
B3_SHARED_API int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
@@ -993,7 +1076,7 @@ B3_SHARED_API int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle stat
b3Assert(status->m_type == CMD_CREATE_VISUAL_SHAPE_COMPLETED);
if (status && status->m_type == CMD_CREATE_VISUAL_SHAPE_COMPLETED)
{
return status->m_createVisualShapeResultArgs.m_visualShapeUniqueId;
return status->m_createUserShapeResultArgs.m_userShapeUniqueId;
}
return -1;
}