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25 lines
812 B
C
25 lines
812 B
C
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#ifndef URDF2PHYSX_H
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#define URDF2PHYSX_H
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Importers/ImportURDFDemo/URDFJointTypes.h"
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namespace physx
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{
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class PxFoundation;
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class PxPhysics;
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class PxDefaultCpuDispatcher;
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class PxScene;
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class PxCooking;
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class PxArticulationReducedCoordinate;
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};
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struct UrdfVisualShapeCache2
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{
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b3AlignedObjectArray<UrdfMaterialColor> m_cachedUrdfLinkColors;
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b3AlignedObjectArray<int> m_cachedUrdfLinkVisualShapeIndices;
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};
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physx::PxArticulationReducedCoordinate* URDF2PhysX(physx::PxFoundation* foundation, physx::PxPhysics* physics, physx::PxCooking* cooking, physx::PxScene* scene, class PhysXURDFImporter& u2p, int flags, const char* pathPrefix, const class btTransform& rootTransformInWorldSpace,struct CommonFileIOInterface* fileIO);
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#endif //URDF2PHYSX_H
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