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

Update PhysicsServerCommandProcessor and plugins to support render

Browse Source
This commit is contained in:
Chuyuan Fu
2019-06-25 17:59:15 -07:00
parent 796b5667c2
commit 4da456054c
7 changed files with 149 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
View File

@@ -14,8 +14,13 @@ struct UrdfRenderingInterface
{
virtual ~UrdfRenderingInterface() {}
///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc)
///use the collisionObjectUid as a unique identifier to synchronize the world transform and to remove the visual shape.
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO) = 0;
///use the visualShapeUniqueId as a unique identifier to synchronize the world transform and to remove the visual shape.
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int visualShapeUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO) = 0;
///Given b3VisualShapeData, add render information (texture, rgbaColor etc) to the visualShape
///and visualShape to internal renderer.
///Returns a visualShapeUniqueId as a unique identifier to synchronize the world transform and to remove the visual shape.
virtual int addVisualShape(struct b3VisualShapeData* visualShape, struct CommonFileIOInterface* fileIO) = 0;
///remove a visual shapes, based on the shape unique id (shapeUid)
virtual void removeVisualShape(int collisionObjectUid) = 0;