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Allow choosing loaded as btRigidBody with RobotSimAPI.

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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
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12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -55,6 +55,16 @@ b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClie
return (b3SharedMemoryCommandHandle) command;
}
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_URDF);
command->m_updateFlags |=URDF_ARGS_USE_MULTIBODY;
command->m_urdfArguments.m_useMultiBody = useMultiBody;
return 0;
}
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase)
{
@@ -67,8 +77,6 @@ int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
return 0;
}
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -877,6 +877,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
}
btMultiBody* mb = creation.getBulletMultiBody();
if (useMultiBody)
{
@@ -944,7 +945,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
} else
{
btAssert(0);
return true;
}