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create URDF skeleton for a demo (only loading data, not converting it yet)

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This commit is contained in:
Erwin Coumans
2014-07-31 16:54:28 -07:00
parent af446c79b5
commit a08d4a94e3
19 changed files with 219 additions and 41 deletions
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9
Demos3/AllBullet2Demos/BulletDemoEntries.h
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@@ -15,6 +15,7 @@
#include "../bullet2/ChainDemo/ChainDemo.h"
#include "../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h"
#include "../../Demos/ConstraintDemo/ConstraintPhysicsSetup.h"
#include "../ImportURDFDemo/ImportUrdfSetup.h"
static BulletDemoInterface* MyCcdPhysicsDemoCreateFunc(SimpleOpenGL3App* app)
@@ -35,6 +36,11 @@ static BulletDemoInterface* MyConstraintCreateFunc(SimpleOpenGL3App* app)
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* MyImportUrdfCreateFunc(SimpleOpenGL3App* app)
{
CommonPhysicsSetup* physicsSetup = new ImportUrdfDemo();
return new BasicDemo(app, physicsSetup);
}
struct BulletDemoEntry
{
@@ -54,7 +60,8 @@ static BulletDemoEntry allDemos[]=
{ 1, "CcdDemo", MyCcdPhysicsDemoCreateFunc },
{ 1, "Kinematic", MyKinematicObjectCreateFunc },
{ 1, "Constraints", MyConstraintCreateFunc },
{ 1, "URDF", MyImportUrdfCreateFunc },
/* {1,"ChainDemo",ChainDemo::MyCreateFunc},
// {0, "Stress tests", 0 },