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add segmentation mask rendering to TinyRenderer and shared memory API

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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
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6
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -48,8 +48,10 @@ public:
///quick hack: need to rethink the API/dependencies of this
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const { return -1;}
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj) const { }
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const { }
virtual void setBodyUniqueId(int bodyId) {}
virtual int getBodyUniqueId() const { return 0;}
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
};