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Expose a better API to allow any render engine to be used for the physics simulation when loading URDF/SDF files.

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See bullet3/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
Give the kuka_iiwa/model.urdf some blue color, not just orange, to mimick the original a bit better
Preparation for the CMD_CAMERA_IMAGE_COMPLETED command, to expose a virtual camera to the robotics API
This commit is contained in:
erwin coumans
2016-05-19 18:37:15 -07:00
parent f4775c360f
commit 2fc0358750
23 changed files with 575 additions and 437 deletions
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6
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -3,6 +3,8 @@
#include "URDFImporterInterface.h"
#include "LinkVisualShapesConverter.h"
///BulletURDFImporter can deal with URDF and (soon) SDF files
class BulletURDFImporter : public URDFImporterInterface
@@ -13,7 +15,7 @@ class BulletURDFImporter : public URDFImporterInterface
public:
BulletURDFImporter(struct GUIHelperInterface* guiHelper);
BulletURDFImporter(struct GUIHelperInterface* guiHelper, LinkVisualShapesConverter* customConverter);
virtual ~BulletURDFImporter();
@@ -44,7 +46,7 @@ public:
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionShape* colShape) const;
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation