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author | Chuyuan Fu <fuchuyuan.kelly@gmail.com> | 2021-10-29 17:46:03 -0700 |
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committer | Chuyuan Fu <fuchuyuan.kelly@gmail.com> | 2021-10-29 17:46:03 -0700 |
commit | a2aada62aeed1217453ead26933ad8a90a1d9a85 (patch) | |
tree | af1b4952d0ac338442d21c18a24b7535f734a071 | |
parent | a62fb187a5c83a2e1e3e0376565ab3ae47870465 (diff) | |
download | bullet3-a2aada62aeed1217453ead26933ad8a90a1d9a85.tar.gz |
add user data to deformable urdf
-rw-r--r-- | examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 15 |
1 files changed, 14 insertions, 1 deletions
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 708ea7463..ff6ad05ee 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3616,7 +3616,20 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto { bool use_self_collision = false; use_self_collision = (flags & CUF_USE_SELF_COLLISION); - return processDeformable(u2b.getDeformableModel(), pos, orn, bodyUniqueIdPtr, bufferServerToClient, bufferSizeInBytes, globalScaling, use_self_collision); + bool ok = processDeformable(u2b.getDeformableModel(), pos, orn, bodyUniqueIdPtr, bufferServerToClient, bufferSizeInBytes, globalScaling, use_self_collision); + if (ok) + { + const UrdfModel* urdfModel = u2b.getUrdfModel(); + if (urdfModel) + { + addUserData(urdfModel->m_userData, *bodyUniqueIdPtr); + } + return true; + } + else + { + return false; + } } bool ok = processImportedObjects(fileName, bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b); if (ok) |