Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add segmentation mask rendering to TinyRenderer and shared memory API

Browse Source 
similar to the zbuffer, but storing the object index (int) instead of float depth
This commit is contained in:
Erwin Coumans
2016-08-11 14:55:30 -07:00
parent f416644481
commit 3c30e2f821
23 changed files with 276 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -45,6 +45,7 @@ struct BulletURDFInternalData
UrdfParser m_urdfParser;
struct GUIHelperInterface* m_guiHelper;
char m_pathPrefix[1024];
int m_bodyId;
btHashMap<btHashInt,btVector4> m_linkColors;
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
@@ -208,6 +209,18 @@ const char* BulletURDFImporter::getPathPrefix()
return m_data->m_pathPrefix;
}
void BulletURDFImporter::setBodyUniqueId(int bodyId)
{
m_data->m_bodyId =bodyId;
}
int BulletURDFImporter::getBodyUniqueId() const
{
return m_data->m_bodyId;
}
BulletURDFImporter::~BulletURDFImporter()
{
@@ -1017,13 +1030,13 @@ bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo&
return false;
}
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj) const
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int objectIndex) const
{
if (m_data->m_customVisualShapesConverter)
{
const UrdfModel& model = m_data->m_urdfParser.getModel();
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, model, colObj);
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, model, colObj, objectIndex);
}
}