mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
310fabcd7e
[MJCF import] improved humanoid.xml, inverted_pendulum.xml import (automatically add dummy-links to connect multiple joints between bodies) [MJCF import] fix bug in quaternion conversion (w,x,y,z) -> (x,y,z,w)
83 lines
3.5 KiB
C++
83 lines
3.5 KiB
C++
#ifndef BULLET_MJCF_IMPORTER_H
|
|
#define BULLET_MJCF_IMPORTER_H
|
|
|
|
#include "../ImportURDFDemo/URDFImporterInterface.h"
|
|
#include "../ImportURDFDemo/LinkVisualShapesConverter.h"
|
|
|
|
|
|
struct MJCFErrorLogger
|
|
{
|
|
virtual void reportError(const char* error)=0;
|
|
virtual void reportWarning(const char* warning)=0;
|
|
virtual void printMessage(const char* msg)=0;
|
|
};
|
|
|
|
|
|
|
|
class BulletMJCFImporter : public URDFImporterInterface
|
|
{
|
|
struct BulletMJCFImporterInternalData* m_data;
|
|
|
|
|
|
public:
|
|
BulletMJCFImporter(struct GUIHelperInterface* helper);
|
|
virtual ~BulletMJCFImporter();
|
|
|
|
virtual bool parseMJCFString(const char* xmlString, MJCFErrorLogger* logger);
|
|
|
|
virtual bool loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase = false);
|
|
|
|
|
|
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false;}
|
|
|
|
virtual const char* getPathPrefix();
|
|
|
|
///return >=0 for the root link index, -1 if there is no root link
|
|
virtual int getRootLinkIndex() const;
|
|
|
|
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
|
|
virtual std::string getLinkName(int linkIndex) const;
|
|
|
|
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
|
|
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
|
|
|
|
//optional method to get collision group (type) and mask (affinity)
|
|
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const ;
|
|
|
|
///this API will likely change, don't override it!
|
|
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const;
|
|
|
|
virtual std::string getJointName(int linkIndex) const;
|
|
|
|
//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
|
|
virtual void getMassAndInertia(int urdfLinkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
|
|
|
|
///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
|
|
virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
|
|
|
|
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
|
|
|
|
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
|
|
|
|
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
|
|
|
|
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const;
|
|
virtual void setBodyUniqueId(int bodyId);
|
|
virtual int getBodyUniqueId() const;
|
|
|
|
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const ;
|
|
virtual int getNumAllocatedCollisionShapes() const;
|
|
virtual class btCollisionShape* getAllocatedCollisionShape(int index);
|
|
virtual int getNumModels() const;
|
|
virtual void activateModel(int modelIndex);
|
|
|
|
|
|
};
|
|
|
|
#endif //BULLET_MJCF_IMPORTER_H
|