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PyBullet change API (since it was broken): pybullet_changeVisualShape with textureUniqueId ==-1 will clear the texture

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b3InitUpdateVisualShape doesn't take textureUniqueId by default. new API b3UpdateVisualShapeTexture to change texture (-1 will clear texture)
PyBullet/BulletRobotics: allow to reset the textureUniqueId to -1, to clear a texture
PyBullet/BulletRobotics: save all texture handles
This commit is contained in:
erwincoumans
2018-10-20 15:56:56 -07:00
parent 9a9386b6a7
commit ed49edc1af
8 changed files with 90 additions and 42 deletions
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25
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -4008,7 +4008,7 @@ B3_SHARED_API int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHa
return uid;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
@@ -4019,16 +4019,27 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClien
command->m_updateVisualShapeDataArguments.m_bodyUniqueId = bodyUniqueId;
command->m_updateVisualShapeDataArguments.m_jointIndex = jointIndex;
command->m_updateVisualShapeDataArguments.m_shapeIndex = shapeIndex;
command->m_updateVisualShapeDataArguments.m_textureUniqueId = textureUniqueId;
command->m_updateVisualShapeDataArguments.m_textureUniqueId = -2;
command->m_updateFlags = 0;
if (textureUniqueId >= 0)
{
command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_TEXTURE;
}
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3UpdateVisualShapeTexture(b3SharedMemoryCommandHandle commandHandle, int textureUniqueId)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_UPDATE_VISUAL_SHAPE);
if (command->m_type == CMD_UPDATE_VISUAL_SHAPE)
{
if (textureUniqueId >= -1)
{
command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_TEXTURE;
command->m_updateVisualShapeDataArguments.m_textureUniqueId = textureUniqueId;
}
}
}
B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, const double rgbaColor[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;