sim.insertVoxelsIntoOctree

Inserts voxels into an OC tree. Each voxel will store a color and a tag value

Synopsis

int totalVoxelCnt = sim.insertVoxelsIntoOctree(int octreeHandle, int options, list points, 
                                               list color = None, list tag = None)

int totalVoxelCnt = sim.insertVoxelsIntoOctree(int octreeHandle, int options, float[] points, 
                                               int[] color = nil, int[] tag = nil)

Arguments

octreeHandle: handle of the OC tree, can be combined with sim.handleflag_codedstring, when one wishes to provide point data as a float buffer, color data as a char buffer and tag as an uint32 buffer
options: bit-coded:
- bit0 set (1): specified points are relative to the OC tree reference frame, otherwise they are relative to the world reference frame
- bit1 set (2): the color array contains one RGB triple per point, and the tag array contains one value per point. Otherwise it the color array contains a single RGB triple, and the tag array contains a single value.
points: array of voxel positions specified as x/y/z coordinates
color: array of one or several RGB triplets, specifying the red, green and blue color components (0-255). Can be None/nil
tag: array of one or several uint32 values, which are user-defined values. Can be None/nil

Return values

totalVoxelCntthe total number of voxels in the OC tree