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refactor of URDF importer (work-in-progress)

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erwin coumans
2015-04-22 16:35:27 -07:00
parent f2aef6b73e
commit b64f5feba4
10 changed files with 1093 additions and 1407 deletions
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29
examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h Normal file
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#ifndef MULTIBODY_CREATION_INTERFACE_H
#define MULTIBODY_CREATION_INTERFACE_H
#include "LinearMath/btTransform.h"
class MultiBodyCreationInterface
{
public:
virtual ~MultiBodyCreationInterface() {}
virtual void createRigidBodyGraphicsInstance(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) = 0;
///optionally create some graphical representation from a collision object, usually for visual debugging purposes.
virtual void createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* col, const btVector3& colorRgba) = 0;
virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep, bool multiDof) =0;
virtual class btRigidBody* allocateRigidBody(int urdfLinkIndex, btScalar mass, const btVector3& localInertiaDiagonal, const btTransform& initialWorldTrans, class btCollisionShape* colShape) = 0;
virtual class btGeneric6DofSpring2Constraint* allocateGeneric6DofSpring2Constraint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB, int rotateOrder=0) = 0;
virtual class btMultiBodyLinkCollider* allocateMultiBodyLinkCollider(int urdfLinkIndex, int mbLinkIndex, btMultiBody* body) = 0;
virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex) = 0;
};
#endif //MULTIBODY_CREATION_INTERFACE_H