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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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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/ImportURDFDemo/URDF2Bullet.cpp
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@@ -566,7 +566,9 @@ void ConvertURDF2BulletInternal(
}
} else
{
//u2b.convertLinkVisualShapes2(urdfLinkIndex,urdfIndex,pathPrefix,localInertialFrame,compoundShape);
int mbLinkIndex =cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
//u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame, col, u2b.getBodyUniqueId());
u2b.convertLinkVisualShapes2(-1,urdfLinkIndex,pathPrefix,localInertialFrame,linkRigidBody,u2b.getBodyUniqueId());
}
}