mirror of
https://github.com/bulletphysics/bullet3
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79 lines
3.9 KiB
C++
79 lines
3.9 KiB
C++
#ifndef URDF_IMPORTER_INTERFACE_H
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#define URDF_IMPORTER_INTERFACE_H
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#include <string>
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btTransform.h"
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#include "URDFJointTypes.h"
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class URDFImporterInterface
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{
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public:
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virtual ~URDFImporterInterface() {}
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virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)=0;
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virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false;}
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virtual const char* getPathPrefix()=0;
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///return >=0 for the root link index, -1 if there is no root link
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virtual int getRootLinkIndex() const = 0;
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///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
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virtual std::string getLinkName(int linkIndex) const =0;
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virtual std::string getBodyName() const = 0;
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/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
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virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}
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virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const { return 0;}
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///this API will likely change, don't override it!
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virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const { return false;}
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virtual std::string getJointName(int linkIndex) const = 0;
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//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
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virtual void getMassAndInertia(int urdfLinkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const =0;
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///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
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virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const =0;
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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 =0;
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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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{
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//backwards compatibility for custom file importers
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jointMaxForce = 0;
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jointMaxVelocity = 0;
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return getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction);
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};
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virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0;
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///quick hack: need to rethink the API/dependencies of this
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virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const { return -1;}
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virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const { }
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virtual void setBodyUniqueId(int bodyId) {}
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virtual int getBodyUniqueId() const { return 0;}
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//default implementation for backward compatibility
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virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
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virtual int getNumAllocatedCollisionShapes() const { return 0;}
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virtual class btCollisionShape* getAllocatedCollisionShape(int /*index*/ ) {return 0;}
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virtual int getNumModels() const {return 0;}
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virtual void activateModel(int /*modelIndex*/) { }
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};
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#endif //URDF_IMPORTER_INTERFACE_H
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