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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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4
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -42,9 +42,9 @@ public:
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0;
///quick hack: need to rethink the API/dependencies of this
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const = 0;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionShape* colShape) const = 0;
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
};
#endif //URDF_IMPORTER_INTERFACE_H