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refactor of URDF importer (work-in-progress)

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This commit is contained in:
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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61
examples/Importers/ImportURDFDemo/URDF2Bullet.h
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@@ -8,64 +8,21 @@ class btTransform;
class btMultiBodyDynamicsWorld;
class btTransform;
class URDF2Bullet
{
public:
enum {
RevoluteJoint=1,
PrismaticJoint,
ContinuousJoint,
FloatingJoint,
PlanarJoint,
FixedJoint,
};
///return >=0 for the root link index, -1 if there is no root link
virtual int getRootLinkIndex() const = 0;
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const =0;
virtual std::string getJointName(int linkIndex) const = 0;
//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
virtual void getMassAndInertia(int urdfLinkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const =0;
///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
virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const =0;
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const =0;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertialFrame) const=0;
///create Bullet collision shapes from URDF 'Collision' objects, specified in inertial frame of the link.
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
virtual void createRigidBodyGraphicsInstance(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) const = 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) const = 0;
virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep, bool multiDof) const =0;
virtual class btRigidBody* allocateRigidBody(int urdfLinkIndex, btScalar mass, const btVector3& localInertiaDiagonal, const btTransform& initialWorldTrans, class btCollisionShape* colShape) const = 0;
virtual class btGeneric6DofSpring2Constraint* allocateGeneric6DofSpring2Constraint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB, int rotateOrder=0) const = 0;
virtual class btMultiBodyLinkCollider* allocateMultiBodyLinkCollider(int urdfLinkIndex, int mbLinkIndex, btMultiBody* body) const = 0;
virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex) const = 0;
};
class URDFImporterInterface;
class MultiBodyCreationInterface;
void printTree(const URDF2Bullet& u2b, int linkIndex, int identationLevel=0);
void printTree(const URDFImporterInterface& u2b, int linkIndex, int identationLevel=0);
void ConvertURDF2Bullet(const URDF2Bullet& u2b, const btTransform& rootTransformInWorldSpace, btMultiBodyDynamicsWorld* world,bool createMultiBody, const char* pathPrefix);
void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
MultiBodyCreationInterface& creationCallback,
const btTransform& rootTransformInWorldSpace,
btMultiBodyDynamicsWorld* world,
bool createMultiBody,
const char* pathPrefix);
#endif //_URDF2BULLET_H