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

10
examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
View File

@@ -11,9 +11,17 @@ public:
virtual void createRigidBodyGraphicsInstance(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) = 0;
virtual void createRigidBodyGraphicsInstance2(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, const btVector3& specularColor, int graphicsIndex)
{
createRigidBodyGraphicsInstance(linkIndex,body,colorRgba,graphicsIndex);
}
///optionally create some graphical representation from a collision object, usually for visual debugging purposes.
virtual void createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* col, const btVector3& colorRgba) = 0;
virtual void createCollisionObjectGraphicsInstance2(int linkIndex, class btCollisionObject* col, const btVector4& colorRgba, const btVector3& specularColor)
{
createCollisionObjectGraphicsInstance(linkIndex,col,colorRgba);
}
virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep) =0;