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Merge pull request #1900 from crewmatt/master

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Update URDF Importer to process Sensor elements.
This commit is contained in:
erwincoumans
2018-09-28 17:06:27 -07:00
committed by GitHub
parent df78380718 6655bd60c8
commit 00ed0dce24
10 changed files with 134 additions and 11 deletions
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2
examples/SharedMemory/PhysicsClientGRPC.cpp
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@@ -14,7 +14,7 @@ using grpc::Channel;
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "SharedMemory/grpc/ConvertGRPCBullet.h"
using pybullet_grpc::PyBulletAPI;
using pybullet_grpc::grpc::PyBulletAPI;
static unsigned int b3DeserializeInt2(const unsigned char* input)
{

6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1990,7 +1990,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
{
}
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0)
{
b3Assert(0);
return false;
@@ -3014,7 +3014,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
bool loadOk = u2b.loadURDF(fileName, useFixedBase, flags);
if (loadOk)
{
@@ -5676,7 +5676,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
}
}
} //fi
//break;
//break;
}
}
} //if (body && body->m_rigidBody)

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -820,6 +820,7 @@ enum eURDF_Flags
URDF_ENABLE_SLEEPING = 2048,
URDF_INITIALIZE_SAT_FEATURES = 4096,
URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
URDF_PARSE_SENSORS = 16384,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes