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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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5
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -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);

2
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -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;

5
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -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
{

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -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;

3
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -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;}

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);