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Merge pull request #1025 from olegklimov/master

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URDF loader improvement 2
This commit is contained in:
erwincoumans
2017-03-21 17:12:22 -07:00
committed by GitHub
parent 2b698688f4 80a0b51a1d
commit a30b887595
62 changed files with 398 additions and 331 deletions
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25
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1499,7 +1499,7 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
m_data->m_sdfRecentLoadedBodies.clear();
BulletMJCFImporter u2b(m_data->m_guiHelper); //, &m_data->m_visualConverter
BulletMJCFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
bool useFixedBase = false;
MyMJCFLogger2 logger;
@@ -4612,20 +4612,19 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
int shapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
m_data->m_visualConverter.getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId,
int success = m_data->m_visualConverter.getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId,
shapeIndex,
visualShapeStoragePtr);
//m_visualConverter
serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = remain-1;
serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1;
serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId = clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId;
serverCmd.m_numDataStreamBytes = sizeof(b3VisualShapeData)*serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied;
serverCmd.m_type =CMD_VISUAL_SHAPE_INFO_COMPLETED;
hasStatus = true;
break;
if (success) {
serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = remain-1;
serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1;
serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId = clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId;
serverCmd.m_numDataStreamBytes = sizeof(b3VisualShapeData)*serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied;
serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_COMPLETED;
}
hasStatus = true;
break;
}
case CMD_UPDATE_VISUAL_SHAPE:
{