mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
ae8e83988b
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
34 lines
886 B
C++
34 lines
886 B
C++
#ifndef _URDF2BULLET_H
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#define _URDF2BULLET_H
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btTransform.h"
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#include <string>
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#include "URDFJointTypes.h" //for UrdfMaterialColor cache
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class btVector3;
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class btTransform;
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class btMultiBodyDynamicsWorld;
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class btTransform;
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class URDFImporterInterface;
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class MultiBodyCreationInterface;
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struct UrdfVisualShapeCache
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{
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btAlignedObjectArray<UrdfMaterialColor> m_cachedUrdfLinkColors;
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btAlignedObjectArray<int> m_cachedUrdfLinkVisualShapeIndices;
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};
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void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
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MultiBodyCreationInterface& creationCallback,
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const btTransform& rootTransformInWorldSpace,
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btMultiBodyDynamicsWorld* world,
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bool createMultiBody,
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const char* pathPrefix,
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int flags = 0,
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UrdfVisualShapeCache* cachedLinkGraphicsShapes = 0);
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#endif //_URDF2BULLET_H
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