af6bf8ddc8
See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds: https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf Add the --audio flag to enable sound in pybullet/Bullet-C-API
83 lines
3.1 KiB
C++
83 lines
3.1 KiB
C++
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#ifndef MY_MULTIBODY_CREATOR
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#define MY_MULTIBODY_CREATOR
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#include "MultiBodyCreationInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btHashMap.h"
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struct GUIHelperInterface;
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class btMultiBody;
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struct GenericConstraintUserInfo
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{
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int m_urdfIndex;
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int m_urdfJointType;
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btVector3 m_jointAxisInJointSpace;
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int m_jointAxisIndex;
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btScalar m_lowerJointLimit;
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btScalar m_upperJointLimit;
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};
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class MyMultiBodyCreator : public MultiBodyCreationInterface
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{
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protected:
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btMultiBody* m_bulletMultiBody;
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btRigidBody* m_rigidBody;
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struct GUIHelperInterface* m_guiHelper;
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btAlignedObjectArray<btGeneric6DofSpring2Constraint*> m_6DofConstraints;
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public:
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btAlignedObjectArray<int> m_mb2urdfLink;
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MyMultiBodyCreator(GUIHelperInterface* guiHelper);
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virtual ~MyMultiBodyCreator() {}
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virtual void createRigidBodyGraphicsInstance(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) ;
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///optionally create some graphical representation from a collision object, usually for visual debugging purposes.
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virtual void createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* col, const btVector3& colorRgba);
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virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep);
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virtual class btRigidBody* allocateRigidBody(int urdfLinkIndex, btScalar mass, const btVector3& localInertiaDiagonal, const btTransform& initialWorldTrans, class btCollisionShape* colShape);
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virtual class btGeneric6DofSpring2Constraint* allocateGeneric6DofSpring2Constraint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB, int rotateOrder=0);
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virtual class btGeneric6DofSpring2Constraint* createPrismaticJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB,
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const btVector3& jointAxisInJointSpace,btScalar jointLowerLimit,btScalar jointUpperLimit);
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virtual class btGeneric6DofSpring2Constraint* createRevoluteJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB,
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const btVector3& jointAxisInJointSpace,btScalar jointLowerLimit,btScalar jointUpperLimit);
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virtual class btGeneric6DofSpring2Constraint* createFixedJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB);
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virtual class btMultiBodyLinkCollider* allocateMultiBodyLinkCollider(int urdfLinkIndex, int mbLinkIndex, btMultiBody* body);
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virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex);
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btMultiBody* getBulletMultiBody();
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btRigidBody* getRigidBody()
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{
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return m_rigidBody;
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}
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int getNum6DofConstraints() const
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{
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return m_6DofConstraints.size();
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}
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btGeneric6DofSpring2Constraint* get6DofConstraint(int index)
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{
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return m_6DofConstraints[index];
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}
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};
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#endif //MY_MULTIBODY_CREATOR
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