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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2021-03-26 11:53:37 -07:00
parent d1c4c41b9a 93be7e6440
commit 58d47935a3
6 changed files with 45 additions and 7 deletions
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10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2250,6 +2250,11 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const
{
// Allow user overrides on default-created link names.
if(m_createBodyArgs.m_linkNames[linkIndex] != 0
&& strlen(m_createBodyArgs.m_linkNames[linkIndex]) > 0){
return std::string(m_createBodyArgs.m_linkNames[linkIndex]);
}
std::string linkName = "link";
char numstr[21]; // enough to hold all numbers up to 64-bits
sprintf(numstr, "%d", linkIndex);
@@ -2327,6 +2332,11 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
virtual std::string getJointName(int linkIndex) const
{
// Allow user overrides on default-created joint names.
if(m_createBodyArgs.m_linkNames[linkIndex] != 0
&& strlen(m_createBodyArgs.m_linkNames[linkIndex]) > 0){
return std::string(m_createBodyArgs.m_linkNames[linkIndex]);
}
std::string jointName = "joint";
char numstr[21]; // enough to hold all numbers up to 64-bits
sprintf(numstr, "%d", linkIndex);