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update to tinyrenderer synthetic camera

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This commit is contained in:
erwin coumans
2016-05-31 22:55:13 -07:00
parent 14aa666c6f
commit f469a2cb49
20 changed files with 675 additions and 115 deletions
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6
Extras/InverseDynamics/btMultiBodyFromURDF.hpp
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@@ -11,7 +11,7 @@
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Importers/ImportURDFDemo/DefaultVisualShapeConverter.h"
/// Create a btMultiBody model from URDF.
/// This is adapted from Bullet URDF loader example
@@ -45,8 +45,8 @@ public:
void init() {
this->createEmptyDynamicsWorld();
m_dynamicsWorld->setGravity(m_gravity);
DefaultVisualShapeConverter visualConverter(&m_nogfx);
BulletURDFImporter urdf_importer(&m_nogfx, &visualConverter);
BulletURDFImporter urdf_importer(&m_nogfx, 0);
URDFImporterInterface &u2b(urdf_importer);
bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);