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

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

8
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -325,7 +325,13 @@ void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4]
m_data->m_glApp->m_renderer->writeSingleInstanceColorToCPU(rgbaColor,instanceUid);
};
}
void OpenGLGuiHelper::changeSpecularColor(int instanceUid, const double specularColor[3])
{
if (instanceUid>=0)
{
m_data->m_glApp->m_renderer->writeSingleInstanceSpecularColorToCPU(specularColor,instanceUid);
};
}
int OpenGLGuiHelper::createCheckeredTexture(int red,int green, int blue)
{
int texWidth=1024;

3
examples/ExampleBrowser/OpenGLGuiHelper.h
View File

@@ -27,7 +27,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void removeAllGraphicsInstances();
virtual void removeGraphicsInstance(int graphicsUid);
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);