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b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API

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Parse and use colors from URDF file (single rgba color per link, not per visual)
Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof'
btHashMap, add const Value* operator[]
remove a few more obsolete btMultiBody methods (on the non-multi-dof path)
fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill)
Add mention to Jakub Stepien for his work on btMultiBody
This commit is contained in:
erwincoumans
2015-11-06 17:11:15 -08:00
parent 8160354d02
commit 3b9b803683
16 changed files with 96 additions and 588 deletions
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6
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -24,7 +24,7 @@ static btVector4 colors[4] =
};
static btVector3 selectColor2()
static btVector4 selectColor2()
{
static int curColor = 0;
@@ -371,8 +371,8 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
btVector3 color = selectColor2();//(0.0,0.0,0.5);
btVector4 color = selectColor2();//(0.0,0.0,0.5);
u2b.getLinkColor(urdfLinkIndex,color);
creation.createCollisionObjectGraphicsInstance(urdfLinkIndex,col,color);
btScalar friction = 0.5f;