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improve premake4 build in case X11 headers are missing

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improve video_sync_mp4.py example
allow to create a heightfield from file or programmatically in C++ robotics api. Example:

{
		b3RobotSimulatorCreateCollisionShapeArgs shapeArgs;
		shapeArgs.m_shapeType = GEOM_HEIGHTFIELD;
		bool useFile = true;
		if (useFile)
		{
			shapeArgs.m_fileName = "D:/dev/bullet3/data/heightmaps/gimp_overlay_out.png";
			shapeArgs.m_meshScale.setValue(.05, .05, 1);
		}
		else
		{
			shapeArgs.m_numHeightfieldColumns = 256;
			shapeArgs.m_numHeightfieldRows = 256;
			shapeArgs.m_meshScale.setValue(.05, .05, 1);
			shapeArgs.m_heightfieldData.resize(shapeArgs.m_numHeightfieldRows * shapeArgs.m_numHeightfieldColumns);
			double heightPerturbationRange = 0.05;
			for (int j = 0; j<int(shapeArgs.m_numHeightfieldColumns / 2); j++)
			{
				for (int i = 0; i < (int(shapeArgs.m_numHeightfieldRows / 2)); i++)
				{
					double height = ((double)rand() / (RAND_MAX)) * heightPerturbationRange;
					shapeArgs.m_heightfieldData[2 * i + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + 1 + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + 1 + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
				}
			}
		}
		int shape = sim->createCollisionShape(shapeArgs.m_shapeType, shapeArgs);
		b3RobotSimulatorCreateMultiBodyArgs bodyArgs;
		bodyArgs.m_baseCollisionShapeIndex = shape;
		int groundId = sim->createMultiBody(bodyArgs);
		int texId = sim->loadTexture(shapeArgs.m_fileName);
		b3RobotSimulatorChangeVisualShapeArgs args;
		args.m_objectUniqueId = groundId;
		args.m_linkIndex = -1;
		args.m_textureUniqueId = texId;
		sim->changeVisualShape(args);
	}
This commit is contained in:
Erwin Coumans
2020-07-24 18:09:13 -07:00
parent 1de2269b6e
commit 1e8f39b492
4 changed files with 58 additions and 17 deletions
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23
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -2309,6 +2309,29 @@ int b3RobotSimulatorClientAPI_NoDirect::createCollisionShape(int shapeType, stru
scalarToDouble3(args.m_meshScale, meshScale);
shapeIndex = b3CreateCollisionShapeAddMesh(command, args.m_fileName, meshScale);
}
if (shapeType == GEOM_HEIGHTFIELD)
{
double meshScale[3];
scalarToDouble3(args.m_meshScale, meshScale);
if (args.m_fileName)
{
shapeIndex = b3CreateCollisionShapeAddHeightfield(command, args.m_fileName, meshScale, args.m_heightfieldTextureScaling);
}
else
{
if (args.m_heightfieldData.size() && args.m_numHeightfieldRows>0 && args.m_numHeightfieldColumns>0)
{
shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, command, meshScale, args.m_heightfieldTextureScaling,
&args.m_heightfieldData[0],
args.m_numHeightfieldRows,
args.m_numHeightfieldColumns,
args.m_replaceHeightfieldIndex);
}
}
}
if (shapeType == GEOM_PLANE)
{
double planeConstant = 0;