34 lines
755 B
C++
34 lines
755 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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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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};
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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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