Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Allow choosing loaded as btRigidBody with RobotSimAPI.

Browse Source
This commit is contained in:
yunfeibai
2016-08-16 16:57:48 -07:00
parent 9c4cfde3d6
commit 4bc31394a0
6 changed files with 56 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
examples/RoboticsLearning/b3RobotSimAPI.cpp
View File

@@ -211,7 +211,10 @@ public:
return m_cs;
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color)
{
createCollisionObjectGraphicsObject((btCollisionObject*)body, color);
}
btCollisionObject* m_obj;
btVector3 m_color2;
@@ -685,6 +688,7 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
{
b3LoadUrdfCommandSetUseFixedBase(command,true);
}
b3LoadUrdfCommandSetUseMultiBody(command, args.m_useMultiBody);
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
statusType = b3GetStatusType(statusHandle);