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pybullet: allow to replace existing text, to avoid flickering (remove/add)

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allow texture caching (disable using the disable file caching)
This commit is contained in:
erwincoumans
2017-10-25 08:15:01 -07:00
parent e9415f5912
commit ed8de36ffa
17 changed files with 256 additions and 88 deletions
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12
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -878,12 +878,13 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
{
if (meshData.m_textureImage)
if (meshData.m_textureImage1)
{
BulletURDFTexture texData;
texData.m_width = meshData.m_textureWidth;
texData.m_height = meshData.m_textureHeight;
texData.textureData = meshData.m_textureImage;
texData.textureData1 = meshData.m_textureImage1;
texData.m_isCached = meshData.m_isCached;
texturesOut.push_back(texData);
}
glmesh = meshData.m_gfxShape;
@@ -1137,7 +1138,7 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
if (textures.size())
{
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1,textures[0].m_width,textures[0].m_height);
}
{
B3_PROFILE("registerGraphicsShape");
@@ -1151,7 +1152,10 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
for (int i=0;i<textures.size();i++)
{
B3_PROFILE("free textureData");
free( textures[i].textureData);
if (!textures[i].m_isCached)
{
free( textures[i].textureData1);
}
}
return graphicsIndex;
}

3
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
View File

@@ -9,7 +9,8 @@ struct BulletURDFTexture
{
int m_width;
int m_height;
unsigned char* textureData;
unsigned char* textureData1;
bool m_isCached;
};