Add vector with ids of links added in a model

Signed-off-by: Jorge Perez <[email protected]>
gazebosim · Nov 24, 2020 · 37ab82d · 37ab82d
1 parent 7fbd746
commit 37ab82d
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/bullet/src/Base.hh b/bullet/src/Base.hh
@@ -56,6 +56,7 @@ struct ModelInfo
 {
   std::string name;
   Identity world;
+  std::vector<std::size_t> links = {};
 };
 
 struct LinkInfo
@@ -130,6 +131,9 @@ class Base : public Implements3d<FeatureList<Feature>>
     const auto id = this->GetNextEntity();
     this->links[id] = std::make_shared<LinkInfo>(_linkInfo);
 
+    auto model = this->models.at(_linkInfo.model);
+    model->links.push_back(id);
+
     return this->GenerateIdentity(id, this->links.at(id));
   }