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first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API

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b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
This commit is contained in:
erwin coumans
2016-10-18 22:05:28 -07:00
parent d1ab6c144b
commit f97cb7002d
22 changed files with 490 additions and 27 deletions
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4
examples/SharedMemory/PhysicsDirect.h
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@@ -23,6 +23,8 @@ protected:
bool processContactPointData(const struct SharedMemoryCommand& orgCommand);
bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);
void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
public:
@@ -74,6 +76,8 @@ public:
virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
//those 2 APIs are for internal use for visualization
virtual bool connect(struct GUIHelperInterface* guiHelper);
virtual void renderScene();