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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/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -51,7 +51,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
btHashMap<btHashPtr, UrdfCollision> m_bulletCollisionShape2UrdfCollision;
LinkVisualShapesConverter* m_customVisualShapesConverter;
UrdfRenderingInterface* m_customVisualShapesConverter;
bool m_enableTinyRenderer;
int m_flags;
@@ -82,7 +82,7 @@ void BulletURDFImporter::printTree()
// btAssert(0);
}
BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, double globalScaling, int flags)
BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, double globalScaling, int flags)
{
m_data = new BulletURDFInternalData;
m_data->setGlobalScaling(globalScaling);