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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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14
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -10,6 +10,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../../Utils/b3ResourcePath.h"
#include "DefaultVisualShapeConverter.h"
#include "BulletUrdfImporter.h"
@@ -200,17 +201,10 @@ void ImportUrdfSetup::initPhysics()
m_dynamicsWorld->setGravity(gravity);
//now print the tree using the new interface
URDFImporterInterface* bla=0;
DefaultVisualShapeConverter visualConverter(m_guiHelper);
BulletURDFImporter u2b(m_guiHelper, &visualConverter);
static bool newURDF = true;
if (newURDF)
{
b3Printf("using new URDF\n");
bla = new BulletURDFImporter(m_guiHelper);
}
URDFImporterInterface& u2b = *bla;
bool loadOk = u2b.loadURDF(m_fileName);
#ifdef TEST_MULTIBODY_SERIALIZATION