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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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7
examples/InverseDynamics/InverseDynamicsExample.cpp
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@@ -23,6 +23,8 @@ subject to the following restrictions:
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/DefaultVisualShapeConverter.h"
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "btBulletDynamicsCommon.h"
@@ -153,7 +155,10 @@ void InverseDynamicsExample::initPhysics()
case 0:
case BT_ID_LOAD_URDF:
{
BulletURDFImporter u2b(m_guiHelper);
DefaultVisualShapeConverter visualConverter(m_guiHelper);
BulletURDFImporter u2b(m_guiHelper, &visualConverter);
bool loadOk = u2b.loadURDF("kuka_lwr/kuka.urdf");
if (loadOk)
{