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add option to merge fixed links in URDF file (improves performance, can handle URDF files with many fixed links)

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add option to ignore visual and collision shapes in URDF file
This commit is contained in:
Erwin Coumans
2020-02-21 15:04:26 -08:00
parent 6910fc9229
commit e29ba9fe5c
8 changed files with 302 additions and 2 deletions
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examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -278,6 +278,7 @@ bool b3RobotSimulatorClientAPI_NoDirect::loadMJCF(const std::string& fileName, b
b3SharedMemoryCommandHandle command;
command = b3LoadMJCFCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
b3LoadMJCFCommandSetFlags(command, URDF_USE_IMPLICIT_CYLINDER);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_MJCF_LOADING_COMPLETED)