add forceFixedBase option for URDF import example

2015-07-07 15:39:36 -07:00
parent 272ffeb232
commit 7f4beba7ee
7 changed files with 30 additions and 10 deletions
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -93,7 +93,7 @@ struct BulletErrorLogger : public ErrorLogger
 	}
 };	

-bool BulletURDFImporter::loadURDF(const char* fileName)
+bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 {


@@ -129,7 +129,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName)
    }

 	BulletErrorLogger loggie;
-	bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(),&loggie);
+	bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase);

 	return result;
 }