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only add compound child shapes to 'allocated' list once

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This commit is contained in:
Erwin Coumans
2016-07-16 17:58:06 -07:00
parent e2bdd7dbb1
commit 589fa376b3
2 changed files with 1 additions and 19 deletions
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2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -1065,7 +1065,7 @@ btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
btTransform childTrans = col.m_linkLocalFrame; btTransform childTrans = col.m_linkLocalFrame;
compoundShape->addChildShape(localInertiaFrame.inverse()*childTrans,childShape); compoundShape->addChildShape(localInertiaFrame.inverse()*childTrans,childShape);
} }
} }
} }

18
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -701,15 +701,6 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
{ {
btCollisionShape* shape =u2b.getAllocatedCollisionShape(i); btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
m_data->m_collisionShapes.push_back(shape); m_data->m_collisionShapes.push_back(shape);
if (shape->isCompound())
{
btCompoundShape* compound = (btCompoundShape*) shape;
for (int childIndex=0;childIndex<compound->getNumChildShapes();childIndex++)
{
m_data->m_collisionShapes.push_back(compound->getChildShape(childIndex));
}
}
} }
btTransform rootTrans; btTransform rootTrans;
@@ -851,15 +842,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
{ {
btCollisionShape* shape =u2b.getAllocatedCollisionShape(i); btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
m_data->m_collisionShapes.push_back(shape); m_data->m_collisionShapes.push_back(shape);
if (shape->isCompound())
{
btCompoundShape* compound = (btCompoundShape*) shape;
for (int childIndex=0;childIndex<compound->getNumChildShapes();childIndex++)
{
m_data->m_collisionShapes.push_back(compound->getChildShape(childIndex));
}
}
} }
btMultiBody* mb = creation.getBulletMultiBody(); btMultiBody* mb = creation.getBulletMultiBody();