2fc0358750
See bullet3/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h Give the kuka_iiwa/model.urdf some blue color, not just orange, to mimick the original a bit better Preparation for the CMD_CAMERA_IMAGE_COMPLETED command, to expose a virtual camera to the robotics API
26 lines
664 B
C
26 lines
664 B
C
#ifndef DEFAULT_VISUAL_SHAPE_CONVERTER_H
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#define DEFAULT_VISUAL_SHAPE_CONVERTER_H
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#include "LinkVisualShapesConverter.h"
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struct DefaultVisualShapeConverter : public LinkVisualShapesConverter
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{
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struct DefaultVisualShapeConverterInternalData* m_data;
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DefaultVisualShapeConverter(struct GUIHelperInterface* guiHelper);
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virtual ~DefaultVisualShapeConverter();
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virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionShape* colShape);
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virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
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};
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#endif //DEFAULT_VISUAL_SHAPE_CONVERTER_H
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