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Support loading Urdf as btRigidBody with RobotSimAPI. Loading Sdf as btRigidBody is work in progress.

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This commit is contained in:
yunfeibai
2016-08-16 17:56:30 -07:00
parent 4bc31394a0
commit 591f922d97
7 changed files with 20 additions and 6 deletions
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11
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -66,6 +66,17 @@ int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle,
return 0;
}
int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_SDF);
command->m_updateFlags |=URDF_ARGS_USE_MULTIBODY;
command->m_sdfArguments.m_useMultiBody = useMultiBody;
return 0;
}
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;