refactor of URDF importer (work-in-progress)

examples/Importers/ImportURDFDemo/URDFImporterInterface.h

@@ -0,0 +1,41 @@
+#ifndef URDF_IMPORTER_INTERFACE_H
+#define URDF_IMPORTER_INTERFACE_H
+
+#include <string>
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btTransform.h"
+#include "URDFJointTypes.h"
+
+class URDFImporterInterface
+{
+
+public:
+
+
+	virtual ~URDFImporterInterface() {}
+	
+ 
+    ///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;
+    
+	///quick hack: need to rethink the API/dependencies of this
+	virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const = 0;
+
+	 virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const  = 0;
+};
+
+#endif //URDF_IMPORTER_INTERFACE_H
+