#ifndef _URDF2BULLET_H
#define _URDF2BULLET_H
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include <string>
class btVector3;
class btTransform;
class btMultiBodyDynamicsWorld;
class btTransform;


class URDFImporterInterface;
class MultiBodyCreationInterface;


void printTree(const URDFImporterInterface& u2b, int linkIndex, int identationLevel=0);



void ConvertURDF2Bullet(const URDFImporterInterface& u2b, 
												MultiBodyCreationInterface& creationCallback, 
												const btTransform& rootTransformInWorldSpace, 
												btMultiBodyDynamicsWorld* world,
												bool createMultiBody, 
												const char* pathPrefix);

#endif //_URDF2BULLET_H