5d40d90bd0
then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.
23 lines
495 B
C++
23 lines
495 B
C++
#ifndef IMPORT_URDF_SETUP_H
|
|
#define IMPORT_URDF_SETUP_H
|
|
|
|
|
|
#include "Bullet3AppSupport/CommonMultiBodySetup.h"
|
|
|
|
class ImportUrdfSetup : public CommonMultiBodySetup
|
|
{
|
|
char m_fileName[1024];
|
|
struct ImportUrdfInternalData* m_data;
|
|
|
|
public:
|
|
ImportUrdfSetup();
|
|
virtual ~ImportUrdfSetup();
|
|
|
|
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
|
|
virtual void stepSimulation(float deltaTime);
|
|
|
|
void setFileName(const char* urdfFileName);
|
|
};
|
|
|
|
#endif //IMPORT_URDF_SETUP_H
|