Fixed URDF materials parsing and application (of transparent materials). Added possibility to set up ViewBuilder inside plugin and to visually debug physics.

uji-ros-pkg / underwater_simulation

UWSim-NET, the Underwater Simulator

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Fixed URDF materials parsing and application (of transparent materials). Added possibility to set up ViewBuilder inside plugin and to visually debug physics. #15

Closed tut-yury closed 10 years ago

tut-yury commented 10 years ago

Fixed robot's materials parsing (when using urdf geometry, nmat wasn't updated as it should, fixed) and setting up (enabling transparency, previously alpha value was discarded, all materials were opaque). Changed SimulatedDevice signature a bit to enable additional setup in ViewBuilder (new setViewBuilder method and made applyPhysics method optional to implement). Enable physics debugging using --debugPhysics flag with optional numeric parameter.

marioprats commented 10 years ago

This is awesome! we have been wanting to implement this physics debug mode from a long time ago! Thanks @tut-yury

perezsolerj commented 10 years ago

Great! I had a really frustating fight with physics debugging with no result. I will have a look at it as soon as I start with hydro.