diff options
Diffstat (limited to 'examples/Importers/ImportURDFDemo/URDFImporterInterface.h')
| -rw-r--r-- | examples/Importers/ImportURDFDemo/URDFImporterInterface.h | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h index 0bf494b08..847452cd8 100644 --- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h +++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h @@ -64,6 +64,13 @@ public: return getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction); }; + virtual bool getJointInfo3(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity, btScalar& twistLimit) const + { + //backwards compatibility for custom file importers + twistLimit = 0; + return getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity); + }; + virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const = 0; virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld) {} |