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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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11
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -213,7 +213,9 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
btCompoundShape* compoundShape = u2b.convertLinkCollisionShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
int graphicsIndex = u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,compoundShape);
int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
if (compoundShape)
@@ -246,6 +248,8 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
creation.createRigidBodyGraphicsInstance(urdfLinkIndex, body, color, graphicsIndex);
cache.registerRigidBody(urdfLinkIndex, body, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
//untested: u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,body);
} else
{
if (cache.m_bulletMultiBody==0)
@@ -385,6 +389,8 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
btVector4 color = selectColor2();//(0.0,0.0,0.5);
u2b.getLinkColor(urdfLinkIndex,color);
creation.createCollisionObjectGraphicsInstance(urdfLinkIndex,col,color);
u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,col);
btScalar friction = 0.5f;
@@ -398,6 +404,9 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
cache.m_bulletMultiBody->setBaseCollider(col);
}
}
} else
{
//u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,compoundShape);
}
}