本文整理汇总了C++中URDFImporterInterface::getLinkColor2方法的典型用法代码示例。如果您正苦于以下问题：C++ URDFImporterInterface::getLinkColor2方法的具体用法？C++ URDFImporterInterface::getLinkColor2怎么用？C++ URDFImporterInterface::getLinkColor2使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类URDFImporterInterface的用法示例。
在下文中一共展示了URDFImporterInterface::getLinkColor2方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: ConvertURDF2BulletInternal
btTransform ConvertURDF2BulletInternal(
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
URDF2BulletCachedData& cache, int urdfLinkIndex,
const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,
bool createMultiBody, const char* pathPrefix,
int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapesIn, UrdfVisualShapeCache* cachedLinkGraphicsShapesOut, bool recursive)
{
B3_PROFILE("ConvertURDF2BulletInternal2");
//b3Printf("start converting/extracting data from URDF interface\n");
btTransform linkTransformInWorldSpace;
linkTransformInWorldSpace.setIdentity();
int mbLinkIndex = cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
int urdfParentIndex = cache.getParentUrdfIndex(urdfLinkIndex);
int mbParentIndex = cache.getMbIndexFromUrdfIndex(urdfParentIndex);
btRigidBody* parentRigidBody = 0;
//b3Printf("mb link index = %d\n",mbLinkIndex);
btTransform parentLocalInertialFrame;
parentLocalInertialFrame.setIdentity();
btScalar parentMass(1);
btVector3 parentLocalInertiaDiagonal(1, 1, 1);
if (urdfParentIndex == -2)
{
//b3Printf("root link has no parent\n");
}
else
{
//b3Printf("urdf parent index = %d\n",urdfParentIndex);
//b3Printf("mb parent index = %d\n",mbParentIndex);
parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex);
u2b.getMassAndInertia2(urdfParentIndex, parentMass, parentLocalInertiaDiagonal, parentLocalInertialFrame, flags);
}
btScalar mass = 0;
btTransform localInertialFrame;
localInertialFrame.setIdentity();
btVector3 localInertiaDiagonal(0, 0, 0);
u2b.getMassAndInertia2(urdfLinkIndex, mass, localInertiaDiagonal, localInertialFrame, flags);
btTransform parent2joint;
parent2joint.setIdentity();
int jointType;
btVector3 jointAxisInJointSpace;
btScalar jointLowerLimit;
btScalar jointUpperLimit;
btScalar jointDamping;
btScalar jointFriction;
btScalar jointMaxForce;
btScalar jointMaxVelocity;
bool hasParentJoint = u2b.getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity);
std::string linkName = u2b.getLinkName(urdfLinkIndex);
if (flags & CUF_USE_SDF)
{
parent2joint = parentTransformInWorldSpace.inverse() * linkTransformInWorldSpace;
}
else
{
if (flags & CUF_USE_MJCF)
{
linkTransformInWorldSpace = parentTransformInWorldSpace * linkTransformInWorldSpace;
}
else
{
linkTransformInWorldSpace = parentTransformInWorldSpace * parent2joint;
}
}
btCompoundShape* tmpShape = u2b.convertLinkCollisionShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
btCollisionShape* compoundShape = tmpShape;
if (tmpShape->getNumChildShapes() == 1 && tmpShape->getChildTransform(0) == btTransform::getIdentity())
{
compoundShape = tmpShape->getChildShape(0);
}
int graphicsIndex;
{
B3_PROFILE("convertLinkVisualShapes");
if (cachedLinkGraphicsShapesIn && cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices.size() > (mbLinkIndex + 1))
{
graphicsIndex = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices[mbLinkIndex + 1];
UrdfMaterialColor matColor = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkColors[mbLinkIndex + 1];
u2b.setLinkColor2(urdfLinkIndex, matColor);
}
else
{
graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
if (cachedLinkGraphicsShapesOut)
{
cachedLinkGraphicsShapesOut->m_cachedUrdfLinkVisualShapeIndices.push_back(graphicsIndex);
UrdfMaterialColor matColor;
u2b.getLinkColor2(urdfLinkIndex, matColor);
cachedLinkGraphicsShapesOut->m_cachedUrdfLinkColors.push_back(matColor);
//.........这里部分代码省略.........