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expose width/height as ExampleBrowser options.

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suppress lack of 'site' support message in MJCF importer
suppress lack of 'plane' visual support in urdf/sdf import
getBodyName default to "" to avoid breaking cloudsim
expose bodyName when requesting body info (sdf/mjcf import)
pass optional "options" string to pybullet.connect method. this can be used for --opengl2 flag in GUI mode (or other flags)
This commit is contained in:
Erwin Coumans
2017-03-30 11:01:33 -07:00
parent d51123be3a
commit 9d05b46de2
6 changed files with 56 additions and 46 deletions
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5
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -1026,6 +1026,11 @@ struct BulletMJCFImporterInternalData
{
handled = true;
}
if (n=="site")
{
handled = true;
}
if (!handled)
{
logger->reportWarning( (sourceFileLocation(xml) + ": unknown field '" + n + "'").c_str() );

8
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -961,9 +961,15 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
}
break;
}
case URDF_GEOM_PLANE:
{
b3Warning("No default visual for URDF_GEOM_PLANE");
break;
}
default:
{
b3Warning("Error: unknown visual geometry type %i\n", visual->m_geometry.m_type);
}
}
//if we have a convex, tesselate into localVertices/localIndices

9
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
View File

@@ -15,7 +15,6 @@ public:
virtual ~URDFImporterInterface() {}
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)=0;
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false;}
@@ -27,8 +26,12 @@ public:
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const =0;
virtual std::string getBodyName() const = 0;
//various derived class in internal source code break with new pure virtual methods, so provide some default implementation
virtual std::string getBodyName() const
{
return "";
}
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}