2015-04-22 23:35:27 +00:00
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#ifndef MY_MULTIBODY_CREATOR
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#define MY_MULTIBODY_CREATOR
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#include "MultiBodyCreationInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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2015-04-23 01:09:00 +00:00
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struct GUIHelperInterface;
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2015-04-22 23:35:27 +00:00
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class btMultiBody;
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class MyMultiBodyCreator : public MultiBodyCreationInterface
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{
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btMultiBody* m_bulletMultiBody;
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struct GUIHelperInterface* m_guiHelper;
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public:
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btAlignedObjectArray<int> m_urdf2mbLink;
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btAlignedObjectArray<int> m_mb2urdfLink;
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MyMultiBodyCreator(GUIHelperInterface* guiHelper);
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virtual ~MyMultiBodyCreator() {}
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virtual void createRigidBodyGraphicsInstance(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) ;
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///optionally create some graphical representation from a collision object, usually for visual debugging purposes.
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virtual void createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* col, const btVector3& colorRgba);
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virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep, bool multiDof);
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virtual class btRigidBody* allocateRigidBody(int urdfLinkIndex, btScalar mass, const btVector3& localInertiaDiagonal, const btTransform& initialWorldTrans, class btCollisionShape* colShape);
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virtual class btGeneric6DofSpring2Constraint* allocateGeneric6DofSpring2Constraint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB, int rotateOrder=0);
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virtual class btMultiBodyLinkCollider* allocateMultiBodyLinkCollider(int urdfLinkIndex, int mbLinkIndex, btMultiBody* body);
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virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex);
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btMultiBody* getBulletMultiBody();
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};
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#endif //MY_MULTIBODY_CREATOR
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