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small refactor of LinkVisualShapesConverter / TinyRendererVisualShapeConverter, it allows to use it in a Python module and in a PyBullet plugin.

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This commit is contained in:
erwincoumans
2018-01-16 17:58:19 -08:00
parent 32d615565d
commit df89ce6f92
7 changed files with 260 additions and 155 deletions
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4
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -21,7 +21,7 @@
#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
#include "../ImportMeshUtility/b3ImportMeshUtility.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
@@ -2277,7 +2277,7 @@ void BulletMJCFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex,
if (m_data->m_customVisualShapesConverter)
{
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, urdfIndex);
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,inertialFrame, link, 0, colObj, objectIndex);
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,inertialFrame, link, 0, colObj->getBroadphaseHandle()->getUid(), objectIndex);
}
}