mirror of
https://github.com/bulletphysics/bullet3
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c1e20c448f
Support SDF loading through fileIO plugin. Replace strcspn by C code (not crossplatform) Add flag for loadURDF to use color from MTL file (instead from URDF link material) pybullet.URDF_USE_MATERIAL_COLORS_FROM_MTL and pybullet.URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL
95 lines
4.4 KiB
C++
95 lines
4.4 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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#include "UrdfRenderingInterface.h"
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struct BulletURDFTexture
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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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///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* helper, UrdfRenderingInterface* customConverter, struct CommonFileIOInterface* fileIO=0,double globalScaling=1, int flags=0);
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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 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 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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class btCollisionShape* convertURDFToCollisionShape(const struct UrdfCollision* collision, const char* urdfPathPrefix) const;
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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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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 BulletURDFTexture>& texturesOut, struct b3ImportMeshData& meshData) const;
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};
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#endif //BULLET_URDF_IMPORTER_H
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