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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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7
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -190,7 +190,12 @@ bool b3RobotSimulatorClientAPI_NoDirect::changeVisualShape(const struct b3RobotS
b3SharedMemoryStatusHandle statusHandle;
int statusType;
commandHandle = b3InitUpdateVisualShape(m_data->m_physicsClientHandle, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
commandHandle = b3InitUpdateVisualShape(m_data->m_physicsClientHandle, objectUniqueId, jointIndex, shapeIndex);
if (textureUniqueId>=-1)
{
b3UpdateVisualShapeTexture(commandHandle, textureUniqueId);
}
if (args.m_hasSpecularColor)
{