refactor of URDF importer (work-in-progress)

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h

@@ -0,0 +1,48 @@
+
+#ifndef MY_MULTIBODY_CREATOR
+#define MY_MULTIBODY_CREATOR
+
+#include "MultiBodyCreationInterface.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+class GUIHelperInterface;
+class btMultiBody;
+
+class MyMultiBodyCreator : public MultiBodyCreationInterface
+{
+
+	btMultiBody* m_bulletMultiBody;
+    
+	struct GUIHelperInterface* m_guiHelper;
+
+	
+
+public:
+
+	btAlignedObjectArray<int> m_urdf2mbLink;
+    btAlignedObjectArray<int> m_mb2urdfLink;
+  
+
+	MyMultiBodyCreator(GUIHelperInterface* guiHelper);
+
+	virtual ~MyMultiBodyCreator() {}
+
+    virtual void createRigidBodyGraphicsInstance(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) ;
+  
+    ///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);
+    
+    virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep, bool multiDof);
+    
+    virtual class btRigidBody* allocateRigidBody(int urdfLinkIndex, btScalar mass, const btVector3& localInertiaDiagonal, const btTransform& initialWorldTrans, class btCollisionShape* colShape);
+    
+    virtual class btGeneric6DofSpring2Constraint* allocateGeneric6DofSpring2Constraint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB, int rotateOrder=0);
+    
+    virtual class btMultiBodyLinkCollider* allocateMultiBodyLinkCollider(int urdfLinkIndex, int mbLinkIndex, btMultiBody* body);
+    
+    virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex);
+
+	btMultiBody* getBulletMultiBody();
+};
+
+#endif //MY_MULTIBODY_CREATOR