mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
90 lines
4.4 KiB
C++
90 lines
4.4 KiB
C++
#ifndef URDF_IMPORTER_INTERFACE_H
|
|
#define URDF_IMPORTER_INTERFACE_H
|
|
|
|
#include <string>
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
|
#include "LinearMath/btTransform.h"
|
|
#include "URDFJointTypes.h"
|
|
#include "SDFAudioTypes.h"
|
|
|
|
class URDFImporterInterface
|
|
{
|
|
|
|
public:
|
|
|
|
|
|
virtual ~URDFImporterInterface() {}
|
|
|
|
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)=0;
|
|
|
|
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false;}
|
|
|
|
virtual const char* getPathPrefix()=0;
|
|
|
|
///return >=0 for the root link index, -1 if there is no root link
|
|
virtual int getRootLinkIndex() const = 0;
|
|
|
|
///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 =0;
|
|
|
|
//various derived class in internal source code break with new pure virtual methods, so provide some default implementation
|
|
virtual std::string getBodyName() const
|
|
{
|
|
return "";
|
|
}
|
|
|
|
/// 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 { return false;}
|
|
|
|
virtual bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const { return false;}
|
|
|
|
|
|
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const { return 0;}
|
|
///this API will likely change, don't override it!
|
|
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const { return false;}
|
|
|
|
virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const { return false;}
|
|
|
|
virtual std::string getJointName(int linkIndex) const = 0;
|
|
|
|
//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 =0;
|
|
|
|
///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 =0;
|
|
|
|
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const =0;
|
|
|
|
virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const
|
|
{
|
|
//backwards compatibility for custom file importers
|
|
jointMaxForce = 0;
|
|
jointMaxVelocity = 0;
|
|
return getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction);
|
|
};
|
|
|
|
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0;
|
|
virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld){}
|
|
|
|
///quick hack: need to rethink the API/dependencies of this
|
|
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const { return -1;}
|
|
|
|
virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const { }
|
|
virtual void setBodyUniqueId(int bodyId) {}
|
|
virtual int getBodyUniqueId() const { return 0;}
|
|
|
|
//default implementation for backward compatibility
|
|
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
|
|
|
|
virtual int getNumAllocatedCollisionShapes() const { return 0;}
|
|
virtual class btCollisionShape* getAllocatedCollisionShape(int /*index*/ ) {return 0;}
|
|
virtual int getNumModels() const {return 0;}
|
|
virtual void activateModel(int /*modelIndex*/) { }
|
|
virtual int getNumAllocatedMeshInterfaces() const { return 0;}
|
|
virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index) {return 0;}
|
|
|
|
};
|
|
|
|
#endif //URDF_IMPORTER_INTERFACE_H
|
|
|