mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-05 15:21:06 +00:00
3b9b803683
Parse and use colors from URDF file (single rgba color per link, not per visual) Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof' btHashMap, add const Value* operator[] remove a few more obsolete btMultiBody methods (on the non-multi-dof path) fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill) Add mention to Jakub Stepien for his work on btMultiBody
47 lines
1.4 KiB
C++
47 lines
1.4 KiB
C++
#ifndef BULLET_URDF_IMPORTER_H
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#define BULLET_URDF_IMPORTER_H
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#include "URDFImporterInterface.h"
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class BulletURDFImporter : public URDFImporterInterface
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{
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struct BulletURDFInternalData* m_data;
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public:
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BulletURDFImporter(struct GUIHelperInterface* guiHelper);
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virtual ~BulletURDFImporter();
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virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
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const char* getPathPrefix();
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void printTree(); //for debugging
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virtual int getRootLinkIndex() const;
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virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
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virtual std::string getLinkName(int linkIndex) const;
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virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
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virtual std::string getJointName(int linkIndex) const;
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virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
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virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const;
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virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
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virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
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};
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#endif //BULLET_URDF_IMPORTER_H
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