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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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7
examples/SharedMemory/TinyRendererVisualShapeConverter.h
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@@ -4,6 +4,9 @@
#include "../Importers/ImportURDFDemo/LinkVisualShapesConverter.h"
struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
{
@@ -15,6 +18,10 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionObject* colShape, int objectIndex);
virtual int getNumVisualShapes(int bodyUniqueId);
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
void setUpAxis(int axis);
void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);