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Code Issues Releases Wiki Activity

Piping through the flag to parse sensors

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This commit is contained in:
mbennice 2018-09-27 09:49:59 -07:00
parent 173cc2538f
commit 30d4c4136a
7 changed files with 10 additions and 10 deletions
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2
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@ -34,7 +34,7 @@ public:
virtual bool loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase = false);
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0)
{
return false;
}

4
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@ -117,7 +117,7 @@ struct BulletErrorLogger : public ErrorLogger
}
};
bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase, int flags)
{
if (strlen(fileName) == 0)
return false;
@ -155,7 +155,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
BulletErrorLogger loggie;
m_data->m_urdfParser.setParseSDF(false);
bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase);
bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase, (flags & CUF_PARSE_SENSORS));
return result;
}

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@ -23,7 +23,7 @@ public:
virtual ~BulletURDFImporter();
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0);
//warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);

2
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@ -12,7 +12,7 @@ class URDFImporterInterface
public:
virtual ~URDFImporterInterface() {}
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false) = 0;
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0) = 0;
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false; }

2
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@ -1,5 +1,5 @@
#include "UrdfParser.h"
#include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
#include "third_party/tinyxml2/tinyxml2.h"
#include "urdfStringSplit.h"
#include "urdfLexicalCast.h"
using namespace tinyxml2;

2
examples/SharedMemory/PhysicsClientGRPC.cpp
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@ -14,7 +14,7 @@ using grpc::Channel;
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "SharedMemory/grpc/ConvertGRPCBullet.h"
using pybullet_grpc::PyBulletAPI;
using pybullet_grpc::grpc::PyBulletAPI;
static unsigned int b3DeserializeInt2(const unsigned char* input)
{

6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -27,7 +27,7 @@
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "Bullet3Common/b3HashMap.h"
#include "../Utils/ChromeTraceUtil.h"
#include "stb_image/stb_image.h"
#include "third_party/stblib/stb_image.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "IKTrajectoryHelper.h"
#include "btBulletDynamicsCommon.h"
@ -1990,7 +1990,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
{
}
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0)
{
b3Assert(0);
return false;
@ -3014,7 +3014,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
bool loadOk = u2b.loadURDF(fileName, useFixedBase, flags);
if (loadOk)
{