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18 lines
525 B
C++
18 lines
525 B
C++
#ifndef LINK_VISUAL_SHAPES_CONVERTER_H
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#define LINK_VISUAL_SHAPES_CONVERTER_H
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struct UrdfLink;
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struct UrdfModel;
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class btTransform;
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class btCollisionObject;
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struct LinkVisualShapesConverter
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{
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virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, class btCollisionObject* colShape, int objectIndex) =0;
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virtual void removeVisualShape(class btCollisionObject* colObj)=0;
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};
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#endif //LINK_VISUAL_SHAPES_CONVERTER_H
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