expose b3LoadMJCFCommandSetFlags / pybullet.pybullet_loadMJCF(fileName,flags=pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)

2017-05-10 15:01:25 -07:00
parent d54eab16e1
commit 53a82819a0
10 changed files with 89 additions and 16 deletions
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.h
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
@@ -19,7 +19,9 @@ enum ConvertURDFFlags {
  // Use inertia values in URDF instead of recomputing them from collision shape.
  CUF_USE_URDF_INERTIA = 2,
  CUF_USE_MJCF = 4,
-  CUF_USE_SELF_COLLISION=8
+  CUF_USE_SELF_COLLISION=8,
+  CUF_USE_SELF_COLLISION_EXCLUDE_PARENT=16,
+  CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
 };

 void ConvertURDF2Bullet(const URDFImporterInterface& u2b,