87293e835c
pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor Bug fixes in b3ResourcePath::findResourcePath resolution. add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium minor fixes to obj2sdf
45 lines
2.7 KiB
C++
45 lines
2.7 KiB
C++
#ifndef MULTIBODY_CREATION_INTERFACE_H
|
|
#define MULTIBODY_CREATION_INTERFACE_H
|
|
|
|
#include "LinearMath/btTransform.h"
|
|
|
|
class MultiBodyCreationInterface
|
|
{
|
|
public:
|
|
|
|
virtual ~MultiBodyCreationInterface() {}
|
|
|
|
|
|
virtual void createRigidBodyGraphicsInstance(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) = 0;
|
|
virtual void createRigidBodyGraphicsInstance2(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, const btVector3& specularColor, int graphicsIndex)
|
|
{
|
|
createRigidBodyGraphicsInstance(linkIndex,body,colorRgba,graphicsIndex);
|
|
}
|
|
|
|
///optionally create some graphical representation from a collision object, usually for visual debugging purposes.
|
|
virtual void createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* col, const btVector3& colorRgba) = 0;
|
|
virtual void createCollisionObjectGraphicsInstance2(int linkIndex, class btCollisionObject* col, const btVector4& colorRgba, const btVector3& specularColor)
|
|
{
|
|
createCollisionObjectGraphicsInstance(linkIndex,col,colorRgba);
|
|
}
|
|
|
|
virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep) =0;
|
|
|
|
virtual class btRigidBody* allocateRigidBody(int urdfLinkIndex, btScalar mass, const btVector3& localInertiaDiagonal, const btTransform& initialWorldTrans, class btCollisionShape* colShape) = 0;
|
|
|
|
virtual class btGeneric6DofSpring2Constraint* allocateGeneric6DofSpring2Constraint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB, int rotateOrder=0) = 0;
|
|
|
|
virtual class btGeneric6DofSpring2Constraint* createPrismaticJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB,
|
|
const btVector3& jointAxisInJointSpace,btScalar jointLowerLimit,btScalar jointUpperLimit) = 0;
|
|
virtual class btGeneric6DofSpring2Constraint* createRevoluteJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB,
|
|
const btVector3& jointAxisInJointSpace,btScalar jointLowerLimit,btScalar jointUpperLimit) = 0;
|
|
|
|
virtual class btGeneric6DofSpring2Constraint* createFixedJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB) = 0;
|
|
|
|
virtual class btMultiBodyLinkCollider* allocateMultiBodyLinkCollider(int urdfLinkIndex, int mbLinkIndex, btMultiBody* body) = 0;
|
|
|
|
virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex) = 0;
|
|
|
|
};
|
|
|
|
#endif //MULTIBODY_CREATION_INTERFACE_H
|