| 535 | } |
| 536 | |
| 537 | UrdfRenderingInterface* b3PluginManager::getRenderInterface() |
| 538 | { |
| 539 | UrdfRenderingInterface* renderer = 0; |
| 540 | |
| 541 | if (m_data->m_activeRendererPluginUid >= 0) |
| 542 | { |
| 543 | b3PluginHandle* plugin = m_data->m_plugins.getHandle(m_data->m_activeRendererPluginUid); |
| 544 | if (plugin && plugin->m_getRendererFunc) |
| 545 | { |
| 546 | b3PluginContext context = {0}; |
| 547 | context.m_userPointer = plugin->m_userPointer; |
| 548 | context.m_physClient = (b3PhysicsClientHandle)m_data->m_physicsDirect; |
| 549 | renderer = plugin->m_getRendererFunc(&context); |
| 550 | } |
| 551 | } |
| 552 | return renderer; |
| 553 | } |
| 554 | |
| 555 | void b3PluginManager::selectFileIOPlugin(int pluginUniqueId) |
| 556 | { |
no test coverage detected