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expose pybullet.URDF_USE_SELF_COLLISION flag, experimental (likely doesn't work well for many URDF files)

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This commit is contained in:
Erwin Coumans
2017-04-04 12:47:34 -07:00
parent 239ef81364
commit b095e1d917
4 changed files with 8 additions and 0 deletions
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4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1810,6 +1810,10 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
mb->setUserIndex2(bodyUniqueId);
bodyHandle->m_multiBody = mb;
if (flags & URDF_USE_SELF_COLLISION)
{
mb->setHasSelfCollision(true);
}
createJointMotors(mb);