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avoid API change in URDFImporterInterface

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fix .obj texture loading issue
This commit is contained in:
Erwin Coumans
2016-05-24 09:01:03 -07:00
parent 9bd88e5727
commit b1adc0d9ef
6 changed files with 8 additions and 6 deletions
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2
data/cube.mtl
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@@ -10,5 +10,5 @@ newmtl cube
Ks 0.0000 0.0000 0.0000 Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000 Ke 0.0000 0.0000 0.0000
map_Ka cube.tga map_Ka cube.tga
map_Kd cube_diffuse.tga map_Kd floor_diffuse.tga

2
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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@@ -95,7 +95,7 @@ int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName
b3ImportMeshData meshData; b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData)) if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
{ {
int textureIndex = 0; int textureIndex = -1;
if (meshData.m_textureImage) if (meshData.m_textureImage)
{ {

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -585,7 +585,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
return shape; return shape;
} }
int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionShape* colShape) const int BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionShape* colShape) const
{ {
int graphicsIndex = -1; int graphicsIndex = -1;

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -46,7 +46,7 @@ public:
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const; virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionShape* colShape) const; virtual int convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionShape* colShape) const;
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation ///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation

2
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -213,7 +213,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
btCompoundShape* compoundShape = u2b.convertLinkCollisionShapes(urdfLinkIndex,pathPrefix,localInertialFrame); btCompoundShape* compoundShape = u2b.convertLinkCollisionShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame,compoundShape); int graphicsIndex = u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,compoundShape);
if (compoundShape) if (compoundShape)

4
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -42,7 +42,9 @@ public:
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0; virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0;
///quick hack: need to rethink the API/dependencies of this ///quick hack: need to rethink the API/dependencies of this
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionShape* colShape) const = 0; virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const { return -1;}
virtual int convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionShape* colShape) const = 0;
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0; virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
}; };