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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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72
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2755,7 +2755,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
SaveWorldObjectData sd;
sd.m_fileName = fileName;
int currentOpenGLTextureIndex = 0;
for (int m = 0; m < u2b.getNumModels(); m++)
{
@@ -2971,38 +2971,38 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
}
{
int startShapeIndex = 0;
if (m_data->m_pluginManager.getRenderInterface())
{
int currentOpenGLTextureIndex=0;
int totalNumVisualShapes = m_data->m_pluginManager.getRenderInterface()->getNumVisualShapes(bodyUniqueId);
//int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
b3VisualShapeData tmpShape;
int remain = totalNumVisualShapes - startShapeIndex;
int shapeIndex = startShapeIndex;
int success = m_data->m_pluginManager.getRenderInterface()->getVisualShapesData(bodyUniqueId, shapeIndex, &tmpShape);
if (success)
for (int shapeIndex=0;shapeIndex<totalNumVisualShapes;shapeIndex++)
{
if (tmpShape.m_tinyRendererTextureId >= 0)
b3VisualShapeData tmpShape;
int success = m_data->m_pluginManager.getRenderInterface()->getVisualShapesData(bodyUniqueId, shapeIndex, &tmpShape);
if (success)
{
int openglTextureUniqueId = -1;
//find companion opengl texture unique id and create a 'textureUid'
if (currentOpenGLTextureIndex < u2b.getNumAllocatedTextures())
if (tmpShape.m_tinyRendererTextureId >= 0)
{
openglTextureUniqueId = u2b.getAllocatedTexture(currentOpenGLTextureIndex);
currentOpenGLTextureIndex++;
}
int openglTextureUniqueId = -1;
int texHandle = m_data->m_textureHandles.allocHandle();
InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
if (texH)
{
texH->m_tinyRendererTextureId = tmpShape.m_tinyRendererTextureId;
texH->m_openglTextureId = openglTextureUniqueId;
//find companion opengl texture unique id and create a 'textureUid'
if (currentOpenGLTextureIndex<u2b.getNumAllocatedTextures())
{
openglTextureUniqueId = u2b.getAllocatedTexture(currentOpenGLTextureIndex++);
}
//if (openglTextureUniqueId>=0)
{
int texHandle = m_data->m_textureHandles.allocHandle();
InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
if (texH)
{
texH->m_tinyRendererTextureId = tmpShape.m_tinyRendererTextureId;
texH->m_openglTextureId = openglTextureUniqueId;
}
}
}
}
}
@@ -9779,9 +9779,12 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
{
texHandle = m_data->m_textureHandles.getHandle(clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId>=0)
{
texHandle = m_data->m_textureHandles.getHandle(clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
}
if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId >= 0)
if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId >= -1)
{
if (texHandle)
{
@@ -9792,6 +9795,12 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex,
texHandle->m_tinyRendererTextureId);
}
} else
{
m_data->m_pluginManager.getRenderInterface()->changeShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId,
clientCmd.m_updateVisualShapeDataArguments.m_jointIndex,
clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex,
-1);
}
}
}
@@ -9812,10 +9821,13 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
{
int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
if (texHandle)
{
int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
m_data->m_guiHelper->replaceTexture(shapeIndex, texHandle->m_openglTextureId);
} else
{
m_data->m_guiHelper->replaceTexture(shapeIndex, -1);
}
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
@@ -9843,11 +9855,15 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
{
int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
if (texHandle)
{
int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
m_data->m_guiHelper->replaceTexture(shapeIndex, texHandle->m_openglTextureId);
}
else
{
m_data->m_guiHelper->replaceTexture(shapeIndex, -1);
}
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{