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

20
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
View File

@@ -194,15 +194,33 @@ void MyMultiBodyCreator::addLinkMapping(int urdfLinkIndex, int mbLinkIndex)
void MyMultiBodyCreator::createRigidBodyGraphicsInstance(int linkIndex, btRigidBody* body, const btVector3& colorRgba, int graphicsIndex)
{
m_guiHelper->createRigidBodyGraphicsObject(body, colorRgba);
}
void MyMultiBodyCreator::createRigidBodyGraphicsInstance2(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, const btVector3& specularColor, int graphicsIndex)
{
m_guiHelper->createRigidBodyGraphicsObject(body, colorRgba);
int graphicsInstanceId = body->getUserIndex();
m_guiHelper->changeSpecularColor(graphicsInstanceId,specularColor);
}
void MyMultiBodyCreator::createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* colObj, const btVector3& colorRgba)
{
m_guiHelper->createCollisionObjectGraphicsObject(colObj,colorRgba);
}
void MyMultiBodyCreator::createCollisionObjectGraphicsInstance2(int linkIndex, class btCollisionObject* col, const btVector4& colorRgba, const btVector3& specularColor)
{
createCollisionObjectGraphicsInstance(linkIndex,col,colorRgba);
int graphicsInstanceId = col->getUserIndex();
m_guiHelper->changeSpecularColor(graphicsInstanceId,specularColor);
}
btMultiBody* MyMultiBodyCreator::getBulletMultiBody()
{
return m_bulletMultiBody;