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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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8
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -17,13 +17,15 @@ struct ErrorLogger
virtual void printMessage(const char* msg)=0;
};
struct UrdfMaterial
{
std::string m_name;
std::string m_textureFilename;
btVector4 m_rgbaColor; // [0]==r [1]==g [2]==b [3]==a
UrdfMaterial():
m_rgbaColor(0.8, 0.8, 0.8, 1)
UrdfMaterialColor m_matColor;
UrdfMaterial()
{
}
};