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expose the changeVisualShape RGBA color for TinyRenderer, OpenGL3 renderer.

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This commit is contained in:
Erwin Coumans
2017-05-13 09:18:36 -07:00
parent 7cb763e4c8
commit f80838e989
14 changed files with 149 additions and 33 deletions
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25
examples/pybullet/pybullet.c
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@@ -4027,7 +4027,7 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
return Py_None;
}
static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args, PyObject* keywds)
static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
{
int objectUniqueId = -1;
int jointIndex = -1;
@@ -4037,9 +4037,11 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args, P
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int physicsClientId = 0;
PyObject* rgbaColorObj = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"objectUniqueId", "jointIndex", "shapeIndex", "textureUniqueId", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiii|i", kwlist, &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId, &physicsClientId))
static char* kwlist[] = {"objectUniqueId", "linkIndex", "shapeIndex", "textureUniqueId", "rgbaColor", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iiOi", kwlist, &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId, &rgbaColorObj, &physicsClientId))
{
return NULL;
}
@@ -4052,6 +4054,14 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args, P
{
commandHandle = b3InitUpdateVisualShape(sm, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
if (rgbaColorObj)
{
double rgbaColor[4] = {1,1,1,1};
pybullet_internalSetVector4d(rgbaColorObj, rgbaColor);
b3UpdateVisualShapeRGBAColor(commandHandle,rgbaColor);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED)
@@ -5913,7 +5923,7 @@ static PyMethodDef SpamMethods[] = {
"Reset the state (position, velocity etc) for a joint on a body "
"instantaneously, not through physics simulation."},
{"changeDynamicsInfo", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
{"changeDynamics", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"change dynamics information such as mass, lateral friction coefficient."},
{"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
@@ -6019,8 +6029,11 @@ static PyMethodDef SpamMethods[] = {
{"getVisualShapeData", (PyCFunction)pybullet_getVisualShapeData, METH_VARARGS | METH_KEYWORDS,
"Return the visual shape information for one object."},
{"resetVisualShapeData", (PyCFunction)pybullet_resetVisualShapeData, METH_VARARGS | METH_KEYWORDS,
"Reset part of the visual shape information for one object."},
{"changeVisualShape", (PyCFunction)pybullet_changeVisualShape, METH_VARARGS | METH_KEYWORDS,
"Change part of the visual shape information for one object."},
{"resetVisualShapeData", (PyCFunction)pybullet_changeVisualShape, METH_VARARGS | METH_KEYWORDS,
"Obsolete method, kept for backward compatibility, use changeVisualShapeData instead."},
{"loadTexture", (PyCFunction)pybullet_loadTexture, METH_VARARGS | METH_KEYWORDS,
"Load texture file."},