diff options
Diffstat (limited to 'examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp')
| -rw-r--r-- | examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index 5a697b8a8..cb7607b1a 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -547,7 +547,7 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor return true; } -static btCollisionShape* createConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, int flags) +static btCollisionShape* createConvexHullFromShapes(const bt_tinyobj::attrib_t& attribute, std::vector<bt_tinyobj::shape_t>& shapes, const btVector3& geomScale, int flags) { B3_PROFILE("createConvexHullFromShapes"); btCompoundShape* compound = new btCompoundShape(); @@ -560,7 +560,7 @@ static btCollisionShape* createConvexHullFromShapes(const tinyobj::attrib_t& att { btConvexHullShape* convexHull = new btConvexHullShape(); convexHull->setMargin(gUrdfDefaultCollisionMargin); - tinyobj::shape_t& shape = shapes[s]; + bt_tinyobj::shape_t& shape = shapes[s]; int faceCount = shape.mesh.indices.size(); for (int f = 0; f < faceCount; f += 3) @@ -754,9 +754,9 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl } else { - std::vector<tinyobj::shape_t> shapes; - tinyobj::attrib_t attribute; - std::string err = tinyobj::LoadObj(attribute, shapes, collision->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO); + std::vector<bt_tinyobj::shape_t> shapes; + bt_tinyobj::attrib_t attribute; + std::string err = bt_tinyobj::LoadObj(attribute, shapes, collision->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO); //create a convex hull for each shape, and store it in a btCompoundShape shape = createConvexHullFromShapes(attribute, shapes, collision->m_geometry.m_meshScale, m_data->m_flags); m_data->m_bulletCollisionShape2UrdfCollision.insert(shape, *collision); |