From afdcf69837df1abf844a37d6226daacb3620c5ad Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 7 Jan 2017 09:30:06 -0800 Subject: [PATCH] implement some dummy methods in URDFImporterInterface, some code breaks because of un-implemented methods --- .../Importers/ImportURDFDemo/URDFImporterInterface.h | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h index a16d34f89..c7f2f3ad8 100644 --- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h +++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h @@ -51,13 +51,14 @@ public: virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const { } virtual void setBodyUniqueId(int bodyId) {} virtual int getBodyUniqueId() const { return 0;} - + + //default implementation for backward compatibility virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0; - virtual int getNumAllocatedCollisionShapes() const = 0; - virtual class btCollisionShape* getAllocatedCollisionShape(int index) = 0; - virtual int getNumModels() const=0; - virtual void activateModel(int modelIndex)=0; + virtual int getNumAllocatedCollisionShapes() const { return 0;} + virtual class btCollisionShape* getAllocatedCollisionShape(int /*index*/ ) {return 0;} + virtual int getNumModels() const {return 0;} + virtual void activateModel(int /*modelIndex*/) { } };