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also generate TinyRendererVisualShapeConverter for programmatically generated collision shapes

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use similar random colors for TinyRenderer (if rgba colors are not specified)
This commit is contained in:
Erwin Coumans
2017-06-29 22:06:27 -07:00
parent bf800e30d5
commit dcaaed9238
3 changed files with 85 additions and 18 deletions
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21
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -506,6 +506,15 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
}
static btVector4 sColors[4] =
{
btVector4(60./256.,186./256.,84./256.,1),
btVector4(244./256.,194./256.,13./256.,1),
btVector4(219./256.,50./256.,54./256.,1),
btVector4(72./256.,133./256.,237./256.,1),
//btVector4(1,1,0,1),
};
void TinyRendererVisualShapeConverter::convertVisualShapes(
@@ -546,7 +555,17 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
}
btTransform childTrans = vis->m_linkLocalFrame;
float rgbaColor[4] = {1,1,1,1};
int colorIndex = colObj? colObj->getBroadphaseHandle()->getUid() & 3 : 0;
btVector4 color;
color = sColors[colorIndex];
float rgbaColor[4] = {color[0],color[1],color[2],color[3]};
if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
{
color.setValue(1,1,1,1);
}
if (model && useVisual)
{
btHashString matName(linkPtr->m_visualArray[v1].m_materialName.c_str());