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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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26
examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h Normal file
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#ifndef DEFAULT_VISUAL_SHAPE_CONVERTER_H
#define DEFAULT_VISUAL_SHAPE_CONVERTER_H
#include "LinkVisualShapesConverter.h"
struct DefaultVisualShapeConverter : public LinkVisualShapesConverter
{
struct DefaultVisualShapeConverterInternalData* m_data;
DefaultVisualShapeConverter(struct GUIHelperInterface* guiHelper);
virtual ~DefaultVisualShapeConverter();
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionShape* colShape);
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
};
#endif //DEFAULT_VISUAL_SHAPE_CONVERTER_H