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;

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;}
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -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)
 		{

examples/SharedMemory/PhysicsServerCommandProcessor.h

@@ -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);