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Update PhysicsServerCommandProcessor and plugins to support render

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Chuyuan Fu
2019-06-25 17:59:15 -07:00
parent 796b5667c2
commit 4da456054c
7 changed files with 149 additions and 15 deletions
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examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
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@@ -13,6 +13,8 @@ struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int unused, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
virtual int addVisualShape(struct b3VisualShapeData* visualShape, struct CommonFileIOInterface* fileIO);
virtual int getNumVisualShapes(int bodyUniqueId);
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);