22b4809891
use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF. fix robot_bases.py due to new fields in getJointInfo. backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
41 lines
1.0 KiB
C++
41 lines
1.0 KiB
C++
#ifndef _URDF2BULLET_H
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#define _URDF2BULLET_H
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btTransform.h"
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#include <string>
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class btVector3;
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class btTransform;
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class btMultiBodyDynamicsWorld;
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class btTransform;
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class URDFImporterInterface;
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class MultiBodyCreationInterface;
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//manually sync with eURDF_Flags in SharedMemoryPublic.h!
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enum ConvertURDFFlags {
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CUF_USE_SDF = 1,
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// Use inertia values in URDF instead of recomputing them from collision shape.
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CUF_USE_URDF_INERTIA = 2,
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CUF_USE_MJCF = 4,
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CUF_USE_SELF_COLLISION=8,
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CUF_USE_SELF_COLLISION_EXCLUDE_PARENT=16,
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CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
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CUF_RESERVED=64,
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CUF_USE_IMPLICIT_CYLINDER=128,
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CUF_GLOBAL_VELOCITIES_MB=256,
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};
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void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
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MultiBodyCreationInterface& creationCallback,
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const btTransform& rootTransformInWorldSpace,
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btMultiBodyDynamicsWorld* world,
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bool createMultiBody,
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const char* pathPrefix,
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int flags = 0);
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#endif //_URDF2BULLET_H
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