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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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10
examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h Normal file
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#ifndef LINK_VISUAL_SHAPES_CONVERTER_H
#define LINK_VISUAL_SHAPES_CONVERTER_H
struct LinkVisualShapesConverter
{
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const class btTransform& localInertiaFrame, const struct UrdfModel& model, class btCollisionShape* colShape)=0;
virtual bool getLinkColor(int linkIndex, class btVector4& colorRGBA) const = 0;
};
#endif //LINK_VISUAL_SHAPES_CONVERTER_H