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feat: Add replace item unique ID functionality to user debug functions #4652

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feat: Add replace item unique ID functionality to user debug functions #4652

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6 changes: 6 additions & 0 deletions examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1638,6 +1638,9 @@ int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(const char* text, doubl
{
b3UserDebugTextSetOrientation(commandHandle, &args.m_textOrientation[0]);
}
if (args.m_replaceItemUniqueId >=0){
b3UserDebugItemSetReplaceItemUniqueId( commandHandle, args.m_replaceItemUniqueId);
}

statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
Expand Down Expand Up @@ -1679,6 +1682,9 @@ int b3RobotSimulatorClientAPI_NoDirect::addUserDebugLine(double* fromXYZ, double
{
b3UserDebugItemSetParentObject(commandHandle, args.m_parentObjectUniqueId, args.m_parentLinkIndex);
}
if (args.m_replaceItemUniqueId >=0){
b3UserDebugItemSetReplaceItemUniqueId( commandHandle, args.m_replaceItemUniqueId);
}

statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
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3 changes: 2 additions & 1 deletion examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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Original file line number Diff line number Diff line change
Expand Up @@ -399,7 +399,7 @@ struct b3RobotSimulatorAddUserDebugLineArgs
double m_lifeTime;
int m_parentObjectUniqueId;
int m_parentLinkIndex;

int m_replaceItemUniqueId;
b3RobotSimulatorAddUserDebugLineArgs()
: m_lineWidth(1),
m_lifeTime(0),
Expand All @@ -426,6 +426,7 @@ struct b3RobotSimulatorAddUserDebugTextArgs
int m_parentObjectUniqueId;
int m_parentLinkIndex;
int m_flags;
int m_replaceItemUniqueId;

b3RobotSimulatorAddUserDebugTextArgs()
: m_size(1),
Expand Down