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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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2
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -211,6 +211,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
{
b3SharedMemoryCommandHandle commandHandle = b3CreateBoxShapeCommandInit(m_physicsClientHandle);
b3CreateBoxCommandSetStartPosition(commandHandle,0,0,-3);
b3CreateBoxCommandSetColorRGBA(commandHandle,0,0,1,1);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
@@ -220,6 +221,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3CreateBoxCommandSetStartPosition(commandHandle,0,0,0);
b3CreateBoxCommandSetMass(commandHandle,1);
b3CreateBoxCommandSetCollisionShapeType(commandHandle,COLLISION_SHAPE_TYPE_CYLINDER_Y);
b3CreateBoxCommandSetColorRGBA(commandHandle,1,1,0,1);
double radius = 0.2;
double halfHeight = 0.5;
b3CreateBoxCommandSetHalfExtents(commandHandle,radius,halfHeight,radius);