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simInsertObjectIntoPointCloud
Inserts an object into a point cloud, as points
C++ synopsis
int simInsertObjectIntoPointCloud(int pointCloudHandle, int objectHandle, int options,
double gridSize, const unsigned char* color, void* optionalValues)
Arguments
- pointCloudHandle: handle of the point cloud
- objectHandle: handle of the object to insert. Only potentially collidable objects are supported
- options: reserved. Set to 0
- gridSize: when a shape is inserted, it will first be converted to an OC tree with a given grid or voxel size.
- color: pointer to one RGB triple, specifying the red, green and blue color components (0-255). Can be nullptr.
- optionalValues: can be used to specify additional parameters, or set to nullptr for default parameter values:
- ((int*)optionalValues)[0]: integer value that is bit coded. Each bit indicates which additional parameter will be taken into account:
- ((float*)optionalValues)[1]: duplicateTolerance: a minimum distance tolerance value that is used to avoid duplicate points. To have this parameter taken into account, set bit0 to 1 in ((int*)optionalValues)[0]. Point insertion is slower when the duplicate tolerance is > then 0.0
Return
- -1 if operation was not successful, otherwise the total number of points in the point cloud
See also:
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