Expose a better API to allow any render engine to be used for the phy…

…sics simulation when loading URDF/SDF files.

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

Extras/InverseDynamics/btMultiBodyFromURDF.hpp

@@ -11,6 +11,7 @@
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
 #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
+#include "../Importers/ImportURDFDemo/DefaultVisualShapeConverter.h"
 
 /// Create a btMultiBody model from URDF.
 /// This is adapted from Bullet URDF loader example
@@ -44,7 +45,8 @@ class MyBtMultiBodyFromURDF {
     void init() {
         this->createEmptyDynamicsWorld();
         m_dynamicsWorld->setGravity(m_gravity);
-        BulletURDFImporter urdf_importer(&m_nogfx);
+		DefaultVisualShapeConverter visualConverter(&m_nogfx);
+        BulletURDFImporter urdf_importer(&m_nogfx, &visualConverter);
         URDFImporterInterface &u2b(urdf_importer);
         bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
 

data/kuka_iiwa/model.urdf

@@ -47,6 +47,10 @@
   <material name="Orange">
     <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
   </material>
+  <material name="Blue">
+  <color rgba="0.5 0.7 1.0 1.0"/>      
+</material>
+
   <!--Import the lbr iiwa macro -->
   <!--Import Transmissions -->
   <!--Include Utilities -->
@@ -97,7 +101,7 @@
       <geometry>
         <mesh filename="meshes/link_1.stl"/>
       </geometry>
-      <material name="Orange"/>
+      <material name="Blue"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -126,7 +130,7 @@
       <geometry>
         <mesh filename="meshes/link_2.stl"/>
       </geometry>
-      <material name="Orange"/>
+      <material name="Blue"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -184,7 +188,7 @@
       <geometry>
         <mesh filename="meshes/link_4.stl"/>
       </geometry>
-      <material name="Orange"/>
+      <material name="Blue"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -213,7 +217,7 @@
       <geometry>
         <mesh filename="meshes/link_5.stl"/>
       </geometry>
-      <material name="Orange"/>
+      <material name="Blue"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>

examples/ExampleBrowser/CMakeLists.txt

@@ -246,6 +246,8 @@ SET(BulletExampleBrowser_SRCS
  ../Importers/ImportURDFDemo/urdfStringSplit.h
   ../Importers/ImportURDFDemo/BulletUrdfImporter.cpp
   ../Importers/ImportURDFDemo/BulletUrdfImporter.h
+  ../Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp
+  ../Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
   ../VoronoiFracture/VoronoiFractureDemo.cpp
   ../VoronoiFracture/VoronoiFractureDemo.h
   ../VoronoiFracture/btConvexConvexMprAlgorithm.cpp

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -238,8 +238,6 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
             {
                 gfxVertices[i].uv[j] = 0.5;//we don't have UV info...
             }
-
-
         }
     }
 

examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp

@@ -12,7 +12,7 @@
 #include "../../Utils/b3ResourcePath.h"
 
 #include "../ImportURDFDemo/BulletUrdfImporter.h"
-
+#include "../Importers/ImportURDFDemo/DefaultVisualShapeConverter.h"
 
 #include "../ImportURDFDemo/URDF2Bullet.h"
 
@@ -203,7 +203,8 @@ void ImportSDFSetup::initPhysics()
 
 	m_dynamicsWorld->setGravity(gravity);
 
-    BulletURDFImporter u2b(m_guiHelper);
+	DefaultVisualShapeConverter visualConverter(m_guiHelper);
+    BulletURDFImporter u2b(m_guiHelper, &visualConverter);
 
     bool loadOk =  u2b.loadSDF(m_fileName);