prepare for 'custom' multi body creation.

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -172,61 +172,6 @@ void printTree1(my_shared_ptr<const Link> link,int level = 0)
 }
 
 
-struct URDF_LinkInformation
-{
-    const Link* m_thisLink;
-	int m_linkIndex;
-	//int m_parentIndex;
-
-    btTransform m_localInertialFrame;
-    //btTransform m_localVisualFrame;
-	btTransform m_bodyWorldTransform;
-	btVector3 m_localInertiaDiagonal;
-	btScalar m_mass;
-
-	btCollisionShape* m_collisionShape;
-    btRigidBody* m_bulletRigidBody;
-
-	URDF_LinkInformation()
-		:m_thisLink(0),
-		m_linkIndex(-2),
-		//m_parentIndex(-2),
-		m_collisionShape(0),
-		m_bulletRigidBody(0)
-	{
-
-	}
-	virtual ~URDF_LinkInformation()
-	{
-        printf("~\n");
-	}
-};
-
-struct URDF_JointInformation
-{
-
-};
-
-
-struct URDF2BulletMappings
-{
-    btHashMap<btHashPtr /*to Link*/, URDF_LinkInformation*> m_link2rigidbody;
-	btAlignedObjectArray<btScalar>			m_linkMasses;
-	
-	bool m_createMultiBody;
-	int m_totalNumJoints;
-	btMultiBody*	m_bulletMultiBody;
-
-    btAlignedObjectArray<int> m_urdfLinkIndices2BulletLinkIndices;
-	URDF2BulletMappings()
-		:m_createMultiBody(false),
-		m_totalNumJoints(0),
-		m_bulletMultiBody(0)
-	{
-	}
-
-};
-
 
 
 void ImportUrdfSetup::initPhysics()
@@ -257,7 +202,6 @@ void ImportUrdfSetup::initPhysics()
 	bool fileFound = fu.findFile(m_fileName, relativeFileName, 1024);
 
 
-
 	std::string xml_string;
 	char pathPrefix[1024];
 	pathPrefix[0] = 0;
@@ -316,7 +260,7 @@ void ImportUrdfSetup::initPhysics()
     bool useUrdfInterfaceClass = true;
     
     {
-        URDF2BulletMappings mappings;
+        
       
         btMultiBody* mb = 0;
         

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp

@@ -40,8 +40,8 @@ class btMultiBodyLinkCollider* MyMultiBodyCreator::allocateMultiBodyLinkCollider
     btMultiBodyLinkCollider* mbCol= new btMultiBodyLinkCollider(multiBody, mbLinkIndex);
     return mbCol;
 }
-    
-    
+
+
 class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::allocateGeneric6DofSpring2Constraint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB, int rotateOrder) 
 {
     btGeneric6DofSpring2Constraint* c = new btGeneric6DofSpring2Constraint(rbA,rbB,offsetInA, offsetInB, (RotateOrder)rotateOrder);

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h

@@ -5,7 +5,7 @@
 #include "MultiBodyCreationInterface.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
-class GUIHelperInterface;
+struct GUIHelperInterface;
 class btMultiBody;
 
 class MyMultiBodyCreator : public MultiBodyCreationInterface