Merge pull request #4021 from fuchuyuan/userData

add user data to deformable urdf

1 files changed, 14 insertions, 1 deletions

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 708ea7463..ff6ad05ee 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3616,7 +3616,20 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 		{
 			bool use_self_collision = false;
 			use_self_collision = (flags & CUF_USE_SELF_COLLISION);
-			return processDeformable(u2b.getDeformableModel(), pos, orn, bodyUniqueIdPtr, bufferServerToClient, bufferSizeInBytes, globalScaling, use_self_collision);
+			bool ok = processDeformable(u2b.getDeformableModel(), pos, orn, bodyUniqueIdPtr, bufferServerToClient, bufferSizeInBytes, globalScaling, use_self_collision);
+			if (ok)
+			{
+				const UrdfModel* urdfModel = u2b.getUrdfModel();
+				if (urdfModel)
+				{
+					addUserData(urdfModel->m_userData, *bodyUniqueIdPtr);
+				}
+				return true;
+			}
+			else
+			{
+				return false;
+			}
 		}
 		bool ok = processImportedObjects(fileName, bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b);
 		if (ok)