AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-15 06:00:12 +00:00
Code Issues Releases Wiki Activity
f74e3782aa
bullet3/examples/Importers/ImportURDFDemo/MyURDFImporter.h

45 lines
1.3 KiB
C
Raw Normal View History

refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
#ifndef MY_URDF_IMPORTER_H
#define MY_URDF_IMPORTER_H
#include "URDFImporterInterface.h"
class MyURDFImporter : public URDFImporterInterface
{
struct MyURDFInternalData* m_data;
public:
added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only
2015-04-23 22:41:17 +00:00
MyURDFImporter(struct GUIHelperInterface* guiHelper);
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
virtual ~MyURDFImporter();
added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only
2015-04-23 22:41:17 +00:00
virtual bool loadURDF(const char* fileName);
const char* getPathPrefix();
void printTree(); //for debugging
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only
2015-04-23 22:41:17 +00:00
virtual int getRootLinkIndex() const;
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
virtual std::string getLinkName(int linkIndex) const;
virtual std::string getJointName(int linkIndex) const;
virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const;
added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only
2015-04-23 22:41:17 +00:00
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
};
#endif //MY_URDF_IMPORTER_H
Reference in New Issue Copy Permalink