From 046e036519e369b152fe7fada201a9feceecafec Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 8 Aug 2019 19:36:23 -0700 Subject: [PATCH] pybullet: restore internal edge filtering (see internalEdge.py example) --- examples/Importers/ImportURDFDemo/URDF2Bullet.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp index 4f2a30b70..a9a90af6f 100644 --- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp +++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp @@ -677,7 +677,7 @@ btTransform ConvertURDF2BulletInternal( } while (testLinkIndex> 0); if (allJointsFixed) { - col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT); + col->setCollisionFlags(col->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT); } } @@ -699,7 +699,7 @@ btTransform ConvertURDF2BulletInternal( //&& cache.m_bulletMultiBody->getNumDofs()==0) { //col->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT); - col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT); + col->setCollisionFlags(col->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT); } }