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expose width/height as ExampleBrowser options.

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suppress lack of 'site' support message in MJCF importer
suppress lack of 'plane' visual support in urdf/sdf import
getBodyName default to "" to avoid breaking cloudsim
expose bodyName when requesting body info (sdf/mjcf import)
pass optional "options" string to pybullet.connect method. this can be used for --opengl2 flag in GUI mode (or other flags)
This commit is contained in:
Erwin Coumans
2017-03-30 11:01:33 -07:00
parent d51123be3a
commit 9d05b46de2
6 changed files with 56 additions and 46 deletions
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11
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1580,6 +1580,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
{
btScalar mass = 0;
bodyHandle->m_rootLocalInertialFrame.setIdentity();
bodyHandle->m_bodyName = u2b.getBodyName();
btVector3 localInertiaDiagonal(0,0,0);
int urdfLinkIndex = u2b.getRootLinkIndex();
u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,bodyHandle->m_rootLocalInertialFrame);
@@ -2528,7 +2529,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED;
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0;
InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
if (bodyHandle)
{
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName,bodyHandle->m_bodyName.c_str());
}
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
hasStatus = true;
break;