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pybullet: allow programmatic creation of heightfield. See https://github.com/erwincoumans/bullet3/tree/master/examples/pybullet/examples/heightfield.py

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premake4: allow to build example browser without C++11, re-enable stable PD control plugin using --enable_stable_pd=True
This commit is contained in:
Erwin Coumans
2019-08-11 13:59:24 -07:00
parent f5ae8bd1af
commit f9b232b153
10 changed files with 192 additions and 34 deletions
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33
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1338,6 +1338,39 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHand
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[1] = meshScale[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[2] = meshScale[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_heightfieldTextureScaling = textureScaling;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = -1;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = -1;
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
}
return -1;
}
B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
int shapeIndex = command->m_createUserShapeArgs.m_numUserShapes;
if (shapeIndex < MAX_COMPOUND_COLLISION_SHAPES)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_type = GEOM_HEIGHTFIELD;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileName[0] = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[1] = meshScale[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[2] = meshScale[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_heightfieldTextureScaling = textureScaling;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = numHeightfieldRows;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = numHeightfieldColumns;
cl->uploadBulletFileToSharedMemory((const char*)heightfieldData, numHeightfieldRows*numHeightfieldColumns* sizeof(float));
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}