mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
60d2b99151
Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
83 lines
3.1 KiB
C++
83 lines
3.1 KiB
C++
|
|
#ifndef MY_MULTIBODY_CREATOR
|
|
#define MY_MULTIBODY_CREATOR
|
|
|
|
#include "MultiBodyCreationInterface.h"
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
|
|
|
struct GUIHelperInterface;
|
|
class btMultiBody;
|
|
|
|
struct GenericConstraintUserInfo
|
|
{
|
|
int m_urdfIndex;
|
|
int m_urdfJointType;
|
|
btVector3 m_jointAxisInJointSpace;
|
|
int m_jointAxisIndex;
|
|
btScalar m_lowerJointLimit;
|
|
btScalar m_upperJointLimit;
|
|
|
|
};
|
|
|
|
class MyMultiBodyCreator : public MultiBodyCreationInterface
|
|
{
|
|
protected:
|
|
|
|
btMultiBody* m_bulletMultiBody;
|
|
btRigidBody* m_rigidBody;
|
|
|
|
struct GUIHelperInterface* m_guiHelper;
|
|
|
|
|
|
btAlignedObjectArray<btGeneric6DofSpring2Constraint*> m_6DofConstraints;
|
|
|
|
public:
|
|
|
|
btAlignedObjectArray<int> m_mb2urdfLink;
|
|
|
|
|
|
MyMultiBodyCreator(GUIHelperInterface* guiHelper);
|
|
|
|
virtual ~MyMultiBodyCreator() {}
|
|
|
|
virtual void createRigidBodyGraphicsInstance(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) ;
|
|
|
|
///optionally create some graphical representation from a collision object, usually for visual debugging purposes.
|
|
virtual void createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* col, const btVector3& colorRgba);
|
|
|
|
virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep);
|
|
|
|
virtual class btRigidBody* allocateRigidBody(int urdfLinkIndex, btScalar mass, const btVector3& localInertiaDiagonal, const btTransform& initialWorldTrans, class btCollisionShape* colShape);
|
|
|
|
virtual class btGeneric6DofSpring2Constraint* allocateGeneric6DofSpring2Constraint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB, int rotateOrder=0);
|
|
|
|
virtual class btGeneric6DofSpring2Constraint* createPrismaticJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB,
|
|
const btVector3& jointAxisInJointSpace,btScalar jointLowerLimit,btScalar jointUpperLimit);
|
|
virtual class btGeneric6DofSpring2Constraint* createRevoluteJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB,
|
|
const btVector3& jointAxisInJointSpace,btScalar jointLowerLimit,btScalar jointUpperLimit);
|
|
|
|
virtual class btGeneric6DofSpring2Constraint* createFixedJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB);
|
|
|
|
virtual class btMultiBodyLinkCollider* allocateMultiBodyLinkCollider(int urdfLinkIndex, int mbLinkIndex, btMultiBody* body);
|
|
|
|
virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex);
|
|
|
|
btMultiBody* getBulletMultiBody();
|
|
btRigidBody* getRigidBody()
|
|
{
|
|
return m_rigidBody;
|
|
}
|
|
|
|
int getNum6DofConstraints() const
|
|
{
|
|
return m_6DofConstraints.size();
|
|
}
|
|
|
|
btGeneric6DofSpring2Constraint* get6DofConstraint(int index)
|
|
{
|
|
return m_6DofConstraints[index];
|
|
}
|
|
};
|
|
|
|
#endif //MY_MULTIBODY_CREATOR
|