Add body name when loading urdf.

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp

@@ -1311,6 +1311,11 @@ int BulletMJCFImporter::getRootLinkIndex() const
 	return "";
  }
 
+std::string BulletMJCFImporter::getBodyName() const
+{
+    return m_data->m_fileModelName;
+}
+
 bool BulletMJCFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
 {
 //	UrdfLink* link = m_data->getLink(linkIndex);

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h

@@ -41,6 +41,8 @@ public:
     
     ///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
     virtual std::string getLinkName(int linkIndex) const;
+    
+    virtual std::string getBodyName() const;
 
 	/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;