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URDF loader: fix MuJoCo xml load, also closes #993

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This commit is contained in:
Oleg Klimov
2017-03-17 02:09:55 +03:00
parent 86bec45247
commit e8da7bb6f8
13 changed files with 259 additions and 250 deletions
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7
examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
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@@ -1,9 +1,14 @@
#ifndef LINK_VISUAL_SHAPES_CONVERTER_H
#define LINK_VISUAL_SHAPES_CONVERTER_H
struct UrdfLink;
struct UrdfModel;
class btTransform;
class btCollisionObject;
struct LinkVisualShapesConverter
{
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const class btTransform& localInertiaFrame, const struct UrdfModel& model, class btCollisionObject* colObj, int objectIndex)=0;
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, class btCollisionObject* colShape, int objectIndex) =0;
};
#endif //LINK_VISUAL_SHAPES_CONVERTER_H