ae8e83988b
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
102 lines
5.0 KiB
C++
102 lines
5.0 KiB
C++
#ifndef URDF_IMPORTER_INTERFACE_H
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#define URDF_IMPORTER_INTERFACE_H
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#include <string>
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btTransform.h"
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#include "URDFJointTypes.h"
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#include "SDFAudioTypes.h"
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class URDFImporterInterface
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{
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public:
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virtual ~URDFImporterInterface() {}
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virtual bool loadURDF(const char* fileName, bool forceFixedBase = false) = 0;
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virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false; }
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virtual const char* getPathPrefix() = 0;
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///return >=0 for the root link index, -1 if there is no root link
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virtual int getRootLinkIndex() const = 0;
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///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
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virtual std::string getLinkName(int linkIndex) const = 0;
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//various derived class in internal source code break with new pure virtual methods, so provide some default implementation
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virtual std::string getBodyName() const
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{
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return "";
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}
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/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
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virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false; }
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virtual bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const { return false; }
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virtual void setLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const {}
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virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const { return 0; }
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///this API will likely change, don't override it!
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virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo) const { return false; }
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virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const { return false; }
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virtual std::string getJointName(int linkIndex) const = 0;
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//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
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virtual void getMassAndInertia(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame) const = 0;
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virtual void getMassAndInertia2(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame, int flags) const
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{
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getMassAndInertia(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrame);
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}
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///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
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virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const = 0;
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virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const = 0;
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virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const
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{
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//backwards compatibility for custom file importers
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jointMaxForce = 0;
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jointMaxVelocity = 0;
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return getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction);
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};
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virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const = 0;
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virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld) {}
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///quick hack: need to rethink the API/dependencies of this
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virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const { return -1; }
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virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const {}
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virtual void setBodyUniqueId(int bodyId) {}
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virtual int getBodyUniqueId() const { return 0; }
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//default implementation for backward compatibility
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virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
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virtual int getUrdfFromCollisionShape(const class btCollisionShape* collisionShape, struct UrdfCollision& collision) const
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{
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return 0;
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}
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virtual const struct UrdfLink* getUrdfLink(int urdfLinkIndex) const
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{
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return 0;
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}
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virtual int getNumAllocatedCollisionShapes() const { return 0; }
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virtual class btCollisionShape* getAllocatedCollisionShape(int /*index*/) { return 0; }
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virtual int getNumModels() const { return 0; }
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virtual void activateModel(int /*modelIndex*/) {}
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virtual int getNumAllocatedMeshInterfaces() const { return 0; }
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virtual int getNumAllocatedTextures() const { return 0; }
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virtual int getAllocatedTexture(int index) const { return 0; }
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virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index) { return 0; }
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};
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#endif //URDF_IMPORTER_INTERFACE_H
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