Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

plumb URDF/SDF audio_source into PhysicsServerCommandProcessor, allow to play sounds on collision !

Browse Source 
See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds:
https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf
Add the --audio flag to enable sound in pybullet/Bullet-C-API
This commit is contained in:
Erwin Coumans
2017-05-01 11:14:09 -07:00
parent 3a330c4280
commit af6bf8ddc8
22 changed files with 389 additions and 108 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
View File

@@ -41,8 +41,10 @@ public:
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const;
virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const;
virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const;
virtual std::string getJointName(int linkIndex) const;
virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;