fix body name in GUI more

expose getBodyInfo to b3RobotSimulatorClientAPI

examples/RobotSimulator/RobotSimulatorMain.cpp

@@ -24,6 +24,10 @@ int main(int argc, char* argv[])
 
 	sim->setGravity(b3MakeVector3(0,0,-10));
 
+	int blockId = sim->loadURDF("cube.urdf");
+	b3BodyInfo bodyInfo;
+	sim->getBodyInfo(blockId,&bodyInfo);
+
 	sim->loadURDF("plane.urdf");
 
 	MinitaurSetup minitaur;

examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp

@@ -342,6 +342,12 @@ bool b3RobotSimulatorClientAPI::loadMJCF(const std::string& fileName, b3RobotSim
 
 bool b3RobotSimulatorClientAPI::loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
 {
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
 	b3SharedMemoryCommandHandle command;
@@ -397,9 +403,26 @@ bool b3RobotSimulatorClientAPI::loadSDF(const std::string& fileName, b3RobotSimu
 	return statusOk;
 }
 
+bool b3RobotSimulatorClientAPI::getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+
+	int result = b3GetBodyInfo(m_data->m_physicsClientHandle,  bodyUniqueId, bodyInfo);
+	return (result != 0);
+}
 
 bool b3RobotSimulatorClientAPI::getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const
 {
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+
 	b3SharedMemoryCommandHandle cmd_handle =
 		b3RequestActualStateCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
 	b3SharedMemoryStatusHandle status_handle =
@@ -431,6 +454,12 @@ bool b3RobotSimulatorClientAPI::getBasePositionAndOrientation(int bodyUniqueId,
 
 bool b3RobotSimulatorClientAPI::resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation)
 {
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+
 	b3SharedMemoryCommandHandle commandHandle;
 
 	commandHandle = b3CreatePoseCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);

examples/RobotSimulator/b3RobotSimulatorClientAPI.h

@@ -150,6 +150,8 @@ public:
 	bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
 	bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
 
+	bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
+
 	bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
 	bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
 

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -414,13 +414,19 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                         if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) {
                             Bullet::btMultiBodyDoubleData* mb =
                                 (Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
-
+							if (mb->m_baseName)
+							{
+								bodyJoints->m_baseName = mb->m_baseName;
+							}
 							addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
                         } else 
 						{
                             Bullet::btMultiBodyFloatData* mb =
                                 (Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
-
+							if (mb->m_baseName)
+							{
+								bodyJoints->m_baseName = mb->m_baseName;
+							}
 							addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
                         }
                     }