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minor clarification in UrdfRenderingInterface

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erwincoumans
2018-01-21 11:15:35 -08:00
parent 69007dcc61
commit a92423b6f7
4 changed files with 43 additions and 27 deletions
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20
examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
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@@ -13,14 +13,14 @@ class btTransform;
struct UrdfRenderingInterface
{
///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc)
///use the shapeUid as a unique identified to remove it
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex) =0;
///use the collisionObjectUid as a unique identifier to synchronize the world transform and to remove the visual shape.
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUid, int bodyUniqueId) =0;
///remove a visual shapes, based on the shape unique id (shapeUid)
virtual void removeVisualShape(int shapeUid)=0;
virtual void removeVisualShape(int collisionObjectUid)=0;
///update the world transform + scaling of the visual shape, using the shapeUid
virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0;
virtual void syncTransform(int collisionObjectUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0;
///return the number of visual shapes, for a particular body unique id
virtual int getNumVisualShapes(int bodyUniqueId)=0;
@@ -28,9 +28,12 @@ struct UrdfRenderingInterface
///return the visual shape information, for a particular body unique id and 'shape index'
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0;
///change the RGBA color for a body unique id and link index
virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])=0;
///change the RGBA color for some visual shape.
virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])=0;
///select a given texture for some visual shape.
virtual void changeShapeTexture(int objectUniqueId, int linkIndex, int shapeIndex, int textureUniqueId)=0;
///pick the up-axis, either Y (1) or Z (2)
virtual void setUpAxis(int axis)=0;
@@ -88,8 +91,7 @@ struct UrdfRenderingInterface
///register a texture using an in-memory pixel buffer of a given width and height
virtual int registerTexture(unsigned char* texels, int width, int height)=0;
///select a given texture for some visual shape.
virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)=0;
};