mirror of
https://github.com/bulletphysics/bullet3
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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
117 lines
4.7 KiB
C++
117 lines
4.7 KiB
C++
#ifndef PHYSX_URDF_IMPORTER_H
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#define PHYSX_URDF_IMPORTER_H
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#include "../../Importers/ImportURDFDemo/URDFImporterInterface.h"
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#include "../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
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struct PhysXURDFTexture
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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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///PhysXURDFImporter can deal with URDF and SDF files
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class PhysXURDFImporter : public URDFImporterInterface
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{
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struct PhysXURDFInternalData* m_data;
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public:
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PhysXURDFImporter(struct CommonFileIOInterface* fileIO=0,double globalScaling=1, int flags=0);
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virtual ~PhysXURDFImporter();
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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 getLinkColor2(int linkIndex, UrdfMaterialColor& matCol) const;
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virtual void setLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const;
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virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo) const;
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virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) 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 void getMassAndInertia2(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame, int flags) 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 void setRootTransformInWorld(const btTransform& rootTransformInWorld);
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virtual int convertLinkVisualShapes3(
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int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
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const struct UrdfLink* linkPtr, const UrdfModel* model,
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int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO) 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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class btCollisionShape* convertURDFToCollisionShape(const struct UrdfCollision* collision, const char* urdfPathPrefix) const
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{
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return 0;
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}
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virtual int getUrdfFromCollisionShape(const btCollisionShape* collisionShape, UrdfCollision& collision) 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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{
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return 0;
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}
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virtual const struct UrdfLink* getUrdfLink(int urdfLinkIndex) const;
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virtual const struct UrdfModel* getUrdfModel() const;
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virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) 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 getNumAllocatedMeshInterfaces() const;
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virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index);
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virtual int getNumAllocatedTextures() const;
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virtual int getAllocatedTexture(int index) const;
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virtual void setEnableTinyRenderer(bool enable);
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//void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct PhysXURDFTexture>& texturesOut, struct b3ImportMeshData& meshData) const;
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int getNumPhysXLinks() const;
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};
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#endif //PHYSX_URDF_IMPORTER_H
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