further work on urdfEditor.py, fix some serialization issues

2018-01-08 12:25:56 -08:00
parent a85a4f387b
commit e97b751781
23 changed files with 1926 additions and 1455 deletions
--- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
@@ -75,6 +75,10 @@ public:

   //default implementation for backward compatibility 
 	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const  = 0;
+	virtual int getUrdfFromCollisionShape(const class btCollisionShape* collisionShape, struct UrdfCollision& collision) const
+	{
+		return 0;
+	}

 	virtual int getNumAllocatedCollisionShapes() const { return 0;}
    virtual class btCollisionShape* getAllocatedCollisionShape(int /*index*/ ) {return 0;}