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Add body name when loading urdf.

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This commit is contained in:
yunfeibai
2017-03-23 10:16:39 -07:00
parent 59fcf7ca24
commit 50f0cfca9e
7 changed files with 21 additions and 1 deletions
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3
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -120,6 +120,7 @@ struct InteralBodyData
btMultiBody* m_multiBody;
btRigidBody* m_rigidBody;
int m_testData;
std::string m_bodyName;
btTransform m_rootLocalInertialFrame;
btAlignedObjectArray<btTransform> m_linkLocalInertialFrames;
@@ -1607,6 +1608,8 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
btMultiBody* mb = creation.getBulletMultiBody();
btRigidBody* rb = creation.getRigidBody();
bodyHandle->m_bodyName = u2b.getBodyName();
if (useMultiBody)
{

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);
bool loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);