mirror of
https://github.com/bulletphysics/bullet3
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71 lines
2.9 KiB
C++
71 lines
2.9 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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#include "LinkVisualShapesConverter.h"
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///BulletURDFImporter can deal with URDF and (soon) SDF files
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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, LinkVisualShapesConverter* customConverter);
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virtual ~BulletURDFImporter();
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virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
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//warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
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virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);
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virtual int getNumModels() const;
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virtual void activateModel(int modelIndex);
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virtual void setBodyUniqueId(int bodyId);
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virtual int getBodyUniqueId() const;
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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 getBodyName() 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 bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) 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, 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 bodyUniqueId) const;
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///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
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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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};
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#endif //BULLET_URDF_IMPORTER_H
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