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Piping through the flag to parse sensors

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This commit is contained in:
mbennice
2018-09-27 09:49:59 -07:00
parent 173cc2538f
commit 30d4c4136a
7 changed files with 10 additions and 10 deletions
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2
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -34,7 +34,7 @@ public:
virtual bool loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase = false); virtual bool loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase = false);
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false) virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0)
{ {
return false; return false;
} }

4
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -117,7 +117,7 @@ struct BulletErrorLogger : public ErrorLogger
} }
}; };
bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase) bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase, int flags)
{ {
if (strlen(fileName) == 0) if (strlen(fileName) == 0)
return false; return false;
@@ -155,7 +155,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
BulletErrorLogger loggie; BulletErrorLogger loggie;
m_data->m_urdfParser.setParseSDF(false); m_data->m_urdfParser.setParseSDF(false);
bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase); bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase, (flags & CUF_PARSE_SENSORS));
return result; return result;
} }

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -23,7 +23,7 @@ public:
virtual ~BulletURDFImporter(); virtual ~BulletURDFImporter();
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false); virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0);
//warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path //warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false); virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);

2
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -12,7 +12,7 @@ class URDFImporterInterface
public: public:
virtual ~URDFImporterInterface() {} virtual ~URDFImporterInterface() {}
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false) = 0; virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0) = 0;
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false; } virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false; }

2
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -1,5 +1,5 @@
#include "UrdfParser.h" #include "UrdfParser.h"
#include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h" #include "third_party/tinyxml2/tinyxml2.h"
#include "urdfStringSplit.h" #include "urdfStringSplit.h"
#include "urdfLexicalCast.h" #include "urdfLexicalCast.h"
using namespace tinyxml2; using namespace tinyxml2;

2
examples/SharedMemory/PhysicsClientGRPC.cpp
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@@ -14,7 +14,7 @@ using grpc::Channel;
#include "Bullet3Common/b3AlignedObjectArray.h" #include "Bullet3Common/b3AlignedObjectArray.h"
#include "SharedMemory/grpc/ConvertGRPCBullet.h" #include "SharedMemory/grpc/ConvertGRPCBullet.h"
using pybullet_grpc::PyBulletAPI; using pybullet_grpc::grpc::PyBulletAPI;
static unsigned int b3DeserializeInt2(const unsigned char* input) static unsigned int b3DeserializeInt2(const unsigned char* input)
{ {

6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -27,7 +27,7 @@
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "Bullet3Common/b3HashMap.h" #include "Bullet3Common/b3HashMap.h"
#include "../Utils/ChromeTraceUtil.h" #include "../Utils/ChromeTraceUtil.h"
#include "stb_image/stb_image.h" #include "third_party/stblib/stb_image.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp" #include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "IKTrajectoryHelper.h" #include "IKTrajectoryHelper.h"
#include "btBulletDynamicsCommon.h" #include "btBulletDynamicsCommon.h"
@@ -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); b3Assert(0);
return false; 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); BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer); u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool loadOk = u2b.loadURDF(fileName, useFixedBase); bool loadOk = u2b.loadURDF(fileName, useFixedBase, flags);
if (loadOk) if (loadOk)
{ {