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PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.

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This commit is contained in:
erwincoumans
2018-01-17 12:48:48 -08:00
parent df89ce6f92
commit 329a1f5a74
36 changed files with 397 additions and 140 deletions
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4
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -184,7 +184,7 @@ struct MyMJCFDefaults
struct BulletMJCFImporterInternalData
{
GUIHelperInterface* m_guiHelper;
struct LinkVisualShapesConverter* m_customVisualShapesConverter;
struct UrdfRenderingInterface* m_customVisualShapesConverter;
char m_pathPrefix[1024];
std::string m_sourceFileName; // with path
@@ -1419,7 +1419,7 @@ struct BulletMJCFImporterInternalData
};
BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags)
BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, int flags)
{
m_data = new BulletMJCFImporterInternalData();
m_data->m_guiHelper = helper;

4
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -2,7 +2,7 @@
#define BULLET_MJCF_IMPORTER_H
#include "../ImportURDFDemo/URDFImporterInterface.h"
#include "../ImportURDFDemo/LinkVisualShapesConverter.h"
#include "../ImportURDFDemo/UrdfRenderingInterface.h"
struct MJCFErrorLogger
@@ -27,7 +27,7 @@ class BulletMJCFImporter : public URDFImporterInterface
void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const;
public:
BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags);
BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, int flags);
virtual ~BulletMJCFImporter();
virtual bool parseMJCFString(const char* xmlString, MJCFErrorLogger* logger);