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Properly expose Actor.apply_texture.

This commit is contained in:
Marcel Pi 2024-05-06 13:45:30 +02:00 committed by Blyron
parent 04d91a9625
commit b4fdc22a17
1 changed files with 30 additions and 12 deletions
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42
PythonAPI/carla/src/Actor.cpp
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@ -9,6 +9,9 @@
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
namespace ctm = carla::traffic_manager;
namespace cc = carla::client;
namespace cg = carla::geom;
namespace cr = carla::rpc;
template<class T>
static auto StdVectorToPyList(const std::vector<T> &vec) {
@ -19,32 +22,49 @@ static auto StdVectorToPyList(const std::vector<T> &vec) {
return l;
}
static auto GetSemanticTags(const carla::client::Actor &self) {
static auto GetSemanticTags(const cc::Actor &self) {
const std::vector<uint8_t> &tags = self.GetSemanticTags();
return StdVectorToPyList(tags);
}
static void AddActorImpulse(carla::client::Actor &self,
const carla::geom::Vector3D &impulse) {
static void AddActorImpulse(cc::Actor &self,
const cg::Vector3D &impulse) {
self.AddImpulse(impulse);
}
static void AddActorForce(carla::client::Actor &self,
const carla::geom::Vector3D &force) {
static void AddActorForce(cc::Actor &self,
const cg::Vector3D &force) {
self.AddForce(force);
}
static auto GetGroupTrafficLights(carla::client::TrafficLight &self) {
static auto GetGroupTrafficLights(cc::TrafficLight &self) {
auto values = self.GetGroupTrafficLights();
return StdVectorToPyList(values);
}
template <typename ControlT>
static void ApplyControl(carla::client::Walker &self, const ControlT &control) {
static void ApplyControl(cc::Walker &self, const ControlT &control) {
self.ApplyControl(control);
}
static auto GetLightBoxes(const carla::client::TrafficLight &self) {
static void ApplyTexture(
cc::Actor& self,
const carla::rpc::MaterialParameter& MaterialParameter,
const boost::python::object& Texture)
{
boost::python::extract<carla::rpc::TextureColor> ext(Texture);
if (ext.check())
return self.ApplyTexture(MaterialParameter, ext());
boost::python::extract<carla::rpc::TextureFloatColor> ext_float(Texture);
if (ext_float.check())
return self.ApplyTexture(MaterialParameter, ext_float());
throw std::invalid_argument(
"Invalid texture passed to apply_texture. Expected either a TextureColor or TextureFloatColor.");
}
static auto GetLightBoxes(const cc::TrafficLight &self) {
boost::python::list result;
for (const auto &bb : self.GetLightBoxes()) {
result.append(bb);
@ -53,10 +73,8 @@ static auto GetLightBoxes(const carla::client::TrafficLight &self) {
}
void export_actor() {
using namespace boost::python;
namespace cc = carla::client;
namespace cr = carla::rpc;
namespace ctm = carla::traffic_manager;
enum_<cr::ActorState>("ActorState")
.value("Invalid", cr::ActorState::Invalid)
@ -106,7 +124,7 @@ void export_actor() {
.def("set_simulate_physics", &cc::Actor::SetSimulatePhysics, (arg("enabled") = true))
.def("set_collisions", &cc::Actor::SetCollisions, (arg("enabled") = true))
.def("set_enable_gravity", &cc::Actor::SetEnableGravity, (arg("enabled") = true))
.def("apply_texture", &cc::Actor::ApplyTexture, (arg("texture")))
.def("apply_texture", &ApplyTexture, (arg("material_parameter"), arg("texture")))
.def("destroy", CALL_WITHOUT_GIL(cc::Actor, Destroy))
.def(self_ns::str(self_ns::self))
;