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fix egl plugin build, with fileIO changes

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This commit is contained in:
Erwin Coumans
2018-10-09 08:00:31 -07:00
parent 295732149f
commit 74fca2418b
3 changed files with 7 additions and 7 deletions
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data/multibody.bullet
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12
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
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@@ -270,7 +270,7 @@ void EGLRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff)
} }
///todo: merge into single file with TinyRendererVisualShapeConverter ///todo: merge into single file with TinyRendererVisualShapeConverter
static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture3>& texturesOut, b3VisualShapeData& visualShapeOut) static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture3>& texturesOut, b3VisualShapeData& visualShapeOut, struct CommonFileIOInterface* fileIO)
{ {
visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type; visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type;
visualShapeOut.m_dimensions[0] = 0; visualShapeOut.m_dimensions[0] = 0;
@@ -410,7 +410,7 @@ static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfP
{ {
//glmesh = LoadMeshFromObj(fullPath,visualPathPrefix); //glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
b3ImportMeshData meshData; b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData)) if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, fileIO))
{ {
if (meshData.m_textureImage1) if (meshData.m_textureImage1)
{ {
@@ -426,7 +426,7 @@ static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfP
break; break;
} }
case UrdfGeometry::FILE_STL: case UrdfGeometry::FILE_STL:
glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str()); glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str(), fileIO);
break; break;
case UrdfGeometry::FILE_COLLADA: case UrdfGeometry::FILE_COLLADA:
{ {
@@ -442,7 +442,7 @@ static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfP
visualShapeInstances, visualShapeInstances,
upAxisTrans, upAxisTrans,
unitMeterScaling, unitMeterScaling,
upAxis); upAxis, fileIO);
glmesh = new GLInstanceGraphicsShape; glmesh = new GLInstanceGraphicsShape;
// int index = 0; // int index = 0;
@@ -633,7 +633,7 @@ static btVector4 sColors[4] =
void EGLRendererVisualShapeConverter::convertVisualShapes( void EGLRendererVisualShapeConverter::convertVisualShapes(
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model, const UrdfLink* linkPtr, const UrdfModel* model,
int collisionObjectUniqueId, int bodyUniqueId) int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO)
{ {
btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines) btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
if (linkPtr) if (linkPtr)
@@ -752,7 +752,7 @@ void EGLRendererVisualShapeConverter::convertVisualShapes(
visualShape.m_rgbaColor[3] = rgbaColor[3]; visualShape.m_rgbaColor[3] = rgbaColor[3];
{ {
B3_PROFILE("convertURDFToVisualShape2"); B3_PROFILE("convertURDFToVisualShape2");
convertURDFToVisualShape2(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape); convertURDFToVisualShape2(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO);
} }
m_data->m_visualShapes.push_back(visualShape); m_data->m_visualShapes.push_back(visualShape);

2
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
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@@ -11,7 +11,7 @@ struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
virtual ~EGLRendererVisualShapeConverter(); virtual ~EGLRendererVisualShapeConverter();
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex); virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
virtual int getNumVisualShapes(int bodyUniqueId); virtual int getNumVisualShapes(int bodyUniqueId);