c1e20c448f
Support SDF loading through fileIO plugin. Replace strcspn by C code (not crossplatform) Add flag for loadURDF to use color from MTL file (instead from URDF link material) pybullet.URDF_USE_MATERIAL_COLORS_FROM_MTL and pybullet.URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL
55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
#ifndef _URDF2BULLET_H
|
|
#define _URDF2BULLET_H
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
|
#include "LinearMath/btTransform.h"
|
|
#include <string>
|
|
#include "URDFJointTypes.h" //for UrdfMaterialColor cache
|
|
|
|
class btVector3;
|
|
class btTransform;
|
|
class btMultiBodyDynamicsWorld;
|
|
class btTransform;
|
|
|
|
class URDFImporterInterface;
|
|
class MultiBodyCreationInterface;
|
|
|
|
//manually sync with eURDF_Flags in SharedMemoryPublic.h!
|
|
enum ConvertURDFFlags
|
|
{
|
|
CUF_USE_SDF = 1,
|
|
// Use inertia values in URDF instead of recomputing them from collision shape.
|
|
CUF_USE_URDF_INERTIA = 2,
|
|
CUF_USE_MJCF = 4,
|
|
CUF_USE_SELF_COLLISION = 8,
|
|
CUF_USE_SELF_COLLISION_EXCLUDE_PARENT = 16,
|
|
CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS = 32,
|
|
CUF_RESERVED = 64,
|
|
CUF_USE_IMPLICIT_CYLINDER = 128,
|
|
CUF_GLOBAL_VELOCITIES_MB = 256,
|
|
CUF_MJCF_COLORS_FROM_FILE = 512,
|
|
CUF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024,
|
|
CUF_ENABLE_SLEEPING = 2048,
|
|
CUF_INITIALIZE_SAT_FEATURES = 4096,
|
|
CUF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
|
|
CUF_PARSE_SENSORS = 16384,
|
|
CUF_USE_MATERIAL_COLORS_FROM_MTL = 32768,
|
|
CUF_USE_MATERIAL_TRANSPARANCY_FROM_MTL = 64738,
|
|
};
|
|
|
|
struct UrdfVisualShapeCache
|
|
{
|
|
btAlignedObjectArray<UrdfMaterialColor> m_cachedUrdfLinkColors;
|
|
btAlignedObjectArray<int> m_cachedUrdfLinkVisualShapeIndices;
|
|
};
|
|
|
|
void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
|
|
MultiBodyCreationInterface& creationCallback,
|
|
const btTransform& rootTransformInWorldSpace,
|
|
btMultiBodyDynamicsWorld* world,
|
|
bool createMultiBody,
|
|
const char* pathPrefix,
|
|
int flags = 0,
|
|
UrdfVisualShapeCache* cachedLinkGraphicsShapes = 0);
|
|
|
|
#endif //_URDF2BULLET_H
|