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implement some dummy methods in URDFImporterInterface, some code

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breaks because of un-implemented methods
This commit is contained in:
Erwin Coumans
2017-01-07 09:30:06 -08:00
parent 4fc697f646
commit afdcf69837
1 changed files with 6 additions and 5 deletions
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11
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -51,13 +51,14 @@ public:
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const { } virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const { }
virtual void setBodyUniqueId(int bodyId) {} virtual void setBodyUniqueId(int bodyId) {}
virtual int getBodyUniqueId() const { return 0;} 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 class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
virtual int getNumAllocatedCollisionShapes() const = 0; virtual int getNumAllocatedCollisionShapes() const { return 0;}
virtual class btCollisionShape* getAllocatedCollisionShape(int index) = 0; virtual class btCollisionShape* getAllocatedCollisionShape(int /*index*/ ) {return 0;}
virtual int getNumModels() const=0; virtual int getNumModels() const {return 0;}
virtual void activateModel(int modelIndex)=0; virtual void activateModel(int /*modelIndex*/) { }
}; };