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implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support.

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pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor
Bug fixes in b3ResourcePath::findResourcePath resolution.
add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium
minor fixes to obj2sdf
This commit is contained in:
Erwin Coumans
2017-06-01 12:32:44 -07:00
parent 439e8c84cf
commit 87293e835c
36 changed files with 78766 additions and 87 deletions
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2
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@@ -39,6 +39,8 @@ struct GUIHelperInterface
virtual void removeAllGraphicsInstances()=0;
virtual void removeGraphicsInstance(int graphicsUid) {}
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {}
virtual Common2dCanvasInterface* get2dCanvasInterface()=0;

3
examples/CommonInterfaces/CommonRenderInterface.h
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@@ -79,6 +79,9 @@ struct CommonRenderInterface
virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex)=0;
virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex)=0;
virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex)=0;
virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex)=0;
virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex)=0;
virtual int getTotalNumInstances() const = 0;