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added LICENSE.txt and AUTHORS.txt file

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add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures.
add btMultiBody::setBaseWorldTransform method
todo: fix cmake build, this patch is premake only
This commit is contained in:
erwin coumans
2015-04-23 15:41:17 -07:00
parent 51938d642e
commit 05bf86d95f
19 changed files with 501 additions and 196 deletions
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17
examples/Importers/ImportURDFDemo/MyURDFImporter.h
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@@ -2,9 +2,7 @@
#define MY_URDF_IMPORTER_H
#include "URDFImporterInterface.h"
#include <vector> //temp, replace by btAlignedObjectArray
#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
class MyURDFImporter : public URDFImporterInterface
{
@@ -13,13 +11,18 @@ class MyURDFImporter : public URDFImporterInterface
public:
MyURDFImporter(my_shared_ptr<urdf::ModelInterface> robot,struct GUIHelperInterface* helper);
MyURDFImporter(struct GUIHelperInterface* guiHelper);
virtual ~MyURDFImporter();
virtual bool loadURDF(const char* fileName);
const char* getPathPrefix();
void printTree(); //for debugging
virtual int getRootLinkIndex() const;
virtual int getRootLinkIndex() const;
virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
@@ -31,7 +34,7 @@ public:
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;