26531f3fbc
use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now, until we find the issue with some failing test cases in btMultiBody fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable) disable excessive debug printf in URDF2Bullet
28 lines
577 B
C++
28 lines
577 B
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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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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#endif //_URDF2BULLET_H
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