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backwards compatibility...

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This commit is contained in:
Erwin Coumans
2017-09-07 11:40:11 -07:00
parent c30e9aea92
commit 9ecd345783
3 changed files with 24 additions and 5 deletions
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5
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2416,7 +2416,8 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
MyMultiBodyCreator creation(m_data->m_guiHelper);
u2b.getRootTransformInWorld(rootTrans);
ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
flags |= URDF_ORDER_TYPED_CONSTRAINT;
ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
@@ -2695,6 +2696,8 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
// printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_data->m_guiHelper);
flags |= URDF_ORDER_TYPED_CONSTRAINT;
ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)