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https://github.com/bulletphysics/bullet3
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79051b7611
fix quadruped.py example. add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
97 lines
4.5 KiB
C++
97 lines
4.5 KiB
C++
#ifndef BULLET_MJCF_IMPORTER_H
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#define BULLET_MJCF_IMPORTER_H
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#include "../ImportURDFDemo/URDFImporterInterface.h"
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#include "../ImportURDFDemo/LinkVisualShapesConverter.h"
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struct MJCFErrorLogger
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{
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virtual void reportError(const char* error)=0;
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virtual void reportWarning(const char* warning)=0;
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virtual void printMessage(const char* msg)=0;
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};
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struct MJCFURDFTexture
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{
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int m_width;
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int m_height;
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unsigned char* textureData1;
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bool m_isCached;
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};
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class BulletMJCFImporter : public URDFImporterInterface
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{
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struct BulletMJCFImporterInternalData* m_data;
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void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const;
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public:
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BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags);
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virtual ~BulletMJCFImporter();
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virtual bool parseMJCFString(const char* xmlString, MJCFErrorLogger* logger);
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virtual bool loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase = false);
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virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
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{
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return false;
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}
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virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false;}
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virtual const char* getPathPrefix();
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///return >=0 for the root link index, -1 if there is no root link
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virtual int getRootLinkIndex() const;
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///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
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virtual std::string getLinkName(int linkIndex) const;
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virtual std::string getBodyName() const;
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/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
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virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
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bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const;
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//optional method to get collision group (type) and mask (affinity)
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virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const ;
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///this API will likely change, don't override it!
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virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const;
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virtual std::string getJointName(int linkIndex) const;
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//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
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virtual void getMassAndInertia(int urdfLinkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
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///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
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virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
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virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
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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;
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virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
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virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
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virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const;
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virtual void setBodyUniqueId(int bodyId);
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virtual int getBodyUniqueId() const;
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virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const ;
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virtual int getNumAllocatedCollisionShapes() const;
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virtual class btCollisionShape* getAllocatedCollisionShape(int index);
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virtual int getNumModels() const;
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virtual void activateModel(int modelIndex);
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virtual int getNumAllocatedMeshInterfaces() const;
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virtual btStridingMeshInterface* getAllocatedMeshInterface(int index);
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};
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#endif //BULLET_MJCF_IMPORTER_H
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