| 3614 | } |
| 3615 | |
| 3616 | bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, btScalar globalScaling) |
| 3617 | { |
| 3618 | btAssert(m_data->m_dynamicsWorld); |
| 3619 | if (!m_data->m_dynamicsWorld) |
| 3620 | { |
| 3621 | b3Error("loadSdf: No valid m_dynamicsWorld"); |
| 3622 | return false; |
| 3623 | } |
| 3624 | |
| 3625 | m_data->m_sdfRecentLoadedBodies.clear(); |
| 3626 | CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface(); |
| 3627 | BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), fileIO, globalScaling, flags); |
| 3628 | u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer); |
| 3629 | |
| 3630 | bool forceFixedBase = false; |
| 3631 | bool loadOk = u2b.loadSDF(fileName, forceFixedBase); |
| 3632 | |
| 3633 | if (loadOk) |
| 3634 | { |
| 3635 | processImportedObjects(fileName, bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b); |
| 3636 | } |
| 3637 | return loadOk; |
| 3638 | } |
| 3639 | |
| 3640 | bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn, |
| 3641 | bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int orgFlags, btScalar globalScaling) |
nothing calls this directly
no test coverage detected