c4b1b84687
https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section) Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto
41 lines
1.0 KiB
C++
41 lines
1.0 KiB
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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//manually sync with eURDF_Flags in SharedMemoryPublic.h!
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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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CUF_USE_MJCF = 4,
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CUF_USE_SELF_COLLISION=8,
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CUF_USE_SELF_COLLISION_EXCLUDE_PARENT=16,
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CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
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CUF_RESERVED=64,
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CUF_USE_IMPLICIT_CYLINDER=128,
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CUF_NO_GLOBAL_VELOCITIES_MB=256,
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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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