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
11 lines
423 B
C
11 lines
423 B
C
#ifndef LINK_VISUAL_SHAPES_CONVERTER_H
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#define LINK_VISUAL_SHAPES_CONVERTER_H
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struct LinkVisualShapesConverter
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{
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virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const class btTransform& localInertiaFrame, const struct UrdfModel& model, class btCollisionShape* colShape)=0;
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virtual bool getLinkColor(int linkIndex, class btVector4& colorRGBA) const = 0;
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};
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#endif //LINK_VISUAL_SHAPES_CONVERTER_H
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