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allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE

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fix quadruped.py example.
add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
This commit is contained in:
Erwin Coumans
2018-01-11 21:04:08 -08:00
parent 22b4809891
commit 79051b7611
13 changed files with 986 additions and 55 deletions
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11
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -12,12 +12,20 @@ struct MJCFErrorLogger
virtual void printMessage(const char* msg)=0;
};
struct MJCFURDFTexture
{
int m_width;
int m_height;
unsigned char* textureData1;
bool m_isCached;
};
class BulletMJCFImporter : public URDFImporterInterface
{
struct BulletMJCFImporterInternalData* m_data;
void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const;
public:
BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags);
virtual ~BulletMJCFImporter();
@@ -46,6 +54,7 @@ public:
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const;
//optional method to get collision group (type) and mask (affinity)
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const ;