42369aa47d
PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2 allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
26 lines
827 B
C++
26 lines
827 B
C++
#ifndef URDF2PHYSX_H
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#define URDF2PHYSX_H
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Importers/ImportURDFDemo/URDFJointTypes.h"
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namespace physx
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{
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class PxBase;
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class PxFoundation;
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class PxPhysics;
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class PxDefaultCpuDispatcher;
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class PxScene;
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class PxCooking;
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class PxArticulationReducedCoordinate;
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};
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struct UrdfVisualShapeCache2
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{
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b3AlignedObjectArray<UrdfMaterialColor> m_cachedUrdfLinkColors;
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b3AlignedObjectArray<int> m_cachedUrdfLinkVisualShapeIndices;
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};
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physx::PxBase* URDF2PhysX(physx::PxFoundation* foundation, physx::PxPhysics* physics, physx::PxCooking* cooking, physx::PxScene* scene, class PhysXURDFImporter& u2p, int flags, const char* pathPrefix, const class btTransform& rootTransformInWorldSpace,struct CommonFileIOInterface* fileIO, bool createActiculation);
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#endif //URDF2PHYSX_H
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