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removed flags from loadURDF command. The flags are already available in m_data->m_flags in BulletUrdfImporter.cpp

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This commit is contained in:
erwincoumans
2018-10-02 08:39:47 -07:00
parent 0f8b8388a6
commit 8aff1fbd49
5 changed files with 7 additions and 7 deletions
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2
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -34,7 +34,7 @@ public:
virtual bool loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase = false);
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0)
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
{
return false;
}

4
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -117,7 +117,7 @@ struct BulletErrorLogger : public ErrorLogger
}
};
bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase, int flags)
bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
{
if (strlen(fileName) == 0)
return false;
@@ -155,7 +155,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase, int
BulletErrorLogger loggie;
m_data->m_urdfParser.setParseSDF(false);
bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase, (flags & CUF_PARSE_SENSORS));
bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase, (m_data->m_flags & CUF_PARSE_SENSORS));
return result;
}

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -23,7 +23,7 @@ public:
virtual ~BulletURDFImporter();
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0);
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
//warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);

2
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -12,7 +12,7 @@ class URDFImporterInterface
public:
virtual ~URDFImporterInterface() {}
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0) = 0;
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false) = 0;
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false; }

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1991,7 +1991,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
{
}
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0)
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
{
b3Assert(0);
return false;
@@ -3069,7 +3069,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool loadOk = u2b.loadURDF(fileName, useFixedBase, flags);
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
if (loadOk)
{