From 9c7e6d6a48bfc0749b2d5e9a58d55c6d63b3c38f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 19 Dec 2019 16:56:09 -0800
Subject: [PATCH] enable programmatic creation of spherical joint

---
 examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 9b0b3e089..3b1f30f81 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -2363,7 +2363,12 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 				jointType = URDFFixedJoint;
 				break;
 			}
-			//case	eSphericalType:
+			case	eSphericalType:
+			{
+				isValid = true;
+				jointType = URDFSphericalJoint;
+				break;
+			}
 			//case	ePlanarType:
 			//case	eFixedType:
 			//case ePoint2PointType: