05bf86d95f
add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only
57 lines
2.4 KiB
C++
57 lines
2.4 KiB
C++
/* Copyright (C) 2015 Google
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CUSTOM_MULTIBODY_CALLBACK_H
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#define CUSTOM_MULTIBODY_CALLBACK_H
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#ifdef USE_EIGEN
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typedef Eigen::Quaternion<double> QuaternionType;
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typedef Eigen::Vector3d<double> Vector3dType;
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typedef double ScalarType;
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#else
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typedef btQuaternion QuaternionType;
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typedef btVector3 Vector3dType;
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typedef btScalar ScalarType;
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#endif
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class CustomMultiBodyCreationCallback
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{
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public:
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virtual ~CustomMultiBodyCreationCallback() {}
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enum {
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RevoluteJoint=1,
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PrismaticJoint,
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FixedJoint,
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};
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virtual int allocateMultiBodyBase(int urdfLinkIndex, int totalNumJoints,ScalarType baseMass, const Vector3dType& localInertiaDiagonal, bool isFixedBase) const =0;
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virtual void addLinkAndJoint(int jointType, int linkIndex, // 0 to num_links-1
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int parentIndex,
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double mass,
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const Vector3dType& inertia,
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const QuaternionType &rotParentFrameToLinkFrame, // rotate points in parent frame to this frame, when q = 0
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const Vector3dType& jointAxisInLinkFrame, // in Link frame
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const Vector3dType& parentComToThisJointOffset, // vector from parent COM to joint frame, in Parent frame
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const Vector3dType& thisJointToThisComOffset) = 0; // vector from joint frame to my COM, in Link frame);
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// @todo: Decide if we need this link mapping?
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// virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex) const = 0;
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};
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#endif //CUSTOM_MULTIBODY_CALLBACK_H
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