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Pass initial position and orientation for CMD_LOAD_URDF. (public github commit)

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2015-07-12 14:48:43 -07:00
parent 95eff08c51
commit 7452df0964
3 changed files with 22 additions and 8 deletions
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21
examples/SharedMemory/PhysicsServer.cpp
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@@ -12,7 +12,7 @@
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "SharedMemoryCommon.h"
const char* blaatnaam = "basename";
//const char* blaatnaam = "basename";
struct UrdfLinkNameMapUtil
{
btMultiBody* m_mb;
@@ -274,14 +274,19 @@ void PhysicsServer::stepSimulation(float deltaTime)
}
case CMD_LOAD_URDF:
{
b3Printf("Processed CMD_LOAD_URDF:%s",clientCmd.m_urdfArguments.m_urdfFileName);
//load the actual URDF and send a report: completed or failed
const UrdfArgs& urdfArgs = clientCmd.m_urdfArguments;
b3Printf("Processed CMD_LOAD_URDF:%s", urdfArgs.m_urdfFileName);
bool completedOk = loadUrdf(clientCmd.m_urdfArguments.m_urdfFileName,
btVector3(0,0,0), btQuaternion(0,0,0,1),clientCmd.m_urdfArguments.m_useMultiBody,clientCmd.m_urdfArguments.m_useFixedBase);
//load the actual URDF and send a report: completed or failed
bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
btVector3(urdfArgs.m_initialPosition[0],
urdfArgs.m_initialPosition[1],
urdfArgs.m_initialPosition[2]),
btQuaternion(urdfArgs.m_initialOrientation[0],
urdfArgs.m_initialOrientation[1],
urdfArgs.m_initialOrientation[2],
urdfArgs.m_initialOrientation[3]),
urdfArgs.m_useMultiBody, urdfArgs.m_useFixedBase);
SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
if (completedOk)