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Expose 'flags' option for loadURDF, to allow customization of the URDF loading process while maintaining backward compatibility.

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For example: URDF_USE_INERTIA_FROM_FILE flag. By default, URDF2Bullet will re-compute the inertia tensor based on mass and volume, because most URDF files have bogus Inertia values.
This commit is contained in:
Erwin Coumans
2017-03-27 08:30:20 -07:00
parent d78909aef9
commit 4911916937
9 changed files with 44 additions and 13 deletions
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2
examples/SharedMemory/PhysicsServerCommandProcessor.h
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@@ -35,7 +35,7 @@ protected:
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags=0);
bool loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);