Add body name when loading urdf.

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -269,6 +269,11 @@ std::string BulletURDFImporter::getLinkName(int linkIndex) const
 	}
 	return "";
 }
+
+std::string BulletURDFImporter::getBodyName() const
+{
+    return m_data->m_urdfParser.getModel().m_name;
+}
     
 std::string BulletURDFImporter::getJointName(int linkIndex) const
 {

examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

@@ -34,6 +34,8 @@ public:
 	virtual int getRootLinkIndex() const;
     
     virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
+    
+    virtual std::string getBodyName() const;
 
     virtual std::string getLinkName(int linkIndex) const;
 

examples/Importers/ImportURDFDemo/URDFImporterInterface.h

@@ -27,6 +27,9 @@ 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 =0;
+    
+    virtual std::string getBodyName() const = 0;
+    
 	/// 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 { return false;}