mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
98 lines
4.1 KiB
C++
98 lines
4.1 KiB
C++
#ifndef BULLET_URDF_IMPORTER_H
|
|
#define BULLET_URDF_IMPORTER_H
|
|
|
|
#include "URDFImporterInterface.h"
|
|
|
|
#include "UrdfRenderingInterface.h"
|
|
|
|
struct BulletURDFTexture
|
|
{
|
|
int m_width;
|
|
int m_height;
|
|
unsigned char* textureData1;
|
|
bool m_isCached;
|
|
};
|
|
|
|
|
|
///BulletURDFImporter can deal with URDF and (soon) SDF files
|
|
class BulletURDFImporter : public URDFImporterInterface
|
|
{
|
|
|
|
struct BulletURDFInternalData* m_data;
|
|
|
|
|
|
public:
|
|
|
|
BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, double globalScaling=1, int flags=0);
|
|
|
|
virtual ~BulletURDFImporter();
|
|
|
|
|
|
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
|
|
|
|
//warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
|
|
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);
|
|
virtual int getNumModels() const;
|
|
virtual void activateModel(int modelIndex);
|
|
virtual void setBodyUniqueId(int bodyId);
|
|
virtual int getBodyUniqueId() const;
|
|
const char* getPathPrefix();
|
|
|
|
void printTree(); //for debugging
|
|
|
|
virtual int getRootLinkIndex() const;
|
|
|
|
virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
|
|
|
|
virtual std::string getBodyName() const;
|
|
|
|
virtual std::string getLinkName(int linkIndex) const;
|
|
|
|
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
|
|
|
|
virtual bool getLinkColor2(int linkIndex, UrdfMaterialColor& matCol) const;
|
|
|
|
virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const;
|
|
|
|
virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) 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, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
|
|
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;
|
|
|
|
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
|
|
virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld);
|
|
|
|
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
|
|
|
|
virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int bodyUniqueId) const;
|
|
|
|
class btCollisionShape* convertURDFToCollisionShape(const struct UrdfCollision* collision, const char* urdfPathPrefix) const;
|
|
|
|
virtual int getUrdfFromCollisionShape(const btCollisionShape* collisionShape, UrdfCollision& collision) const;
|
|
|
|
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
|
|
|
|
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 getNumAllocatedMeshInterfaces() const;
|
|
virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index);
|
|
|
|
virtual int getNumAllocatedTextures() const;
|
|
virtual int getAllocatedTexture(int index) const;
|
|
|
|
virtual void setEnableTinyRenderer(bool enable);
|
|
void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct BulletURDFTexture>& texturesOut) const;
|
|
|
|
|
|
};
|
|
|
|
|
|
#endif //BULLET_URDF_IMPORTER_H
|