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Code Issues Releases Wiki Activity

Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans 2020-05-17 14:04:39 -07:00
commit 8ba6a6932c
2 changed files with 11 additions and 0 deletions
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1
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@ -636,6 +636,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
btVector3 halfExtents(cylRadius, cylRadius, cylHalfLength); btVector3 halfExtents(cylRadius, cylRadius, cylHalfLength);
btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents); btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
shape = cylZShape; shape = cylZShape;
shape->setMargin(gUrdfDefaultCollisionMargin);
} }
else else
{ {

10
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@ -251,6 +251,16 @@ public:
m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0; m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0;
} }
int getNumObjectsWithoutCollision() const
{
return m_objectsWithoutCollisionCheck.size();
}
const btCollisionObject* getObjectWithoutCollision(int index)
{
return m_objectsWithoutCollisionCheck[index];
}
virtual bool checkCollideWithOverride(const btCollisionObject* co) const virtual bool checkCollideWithOverride(const btCollisionObject* co) const
{ {
int index = m_objectsWithoutCollisionCheck.findLinearSearch(co); int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);