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34 lines
886 B
C++
34 lines
886 B
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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#include "URDFJointTypes.h" //for UrdfMaterialColor cache
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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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struct UrdfVisualShapeCache
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{
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btAlignedObjectArray<UrdfMaterialColor> m_cachedUrdfLinkColors;
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btAlignedObjectArray<int> m_cachedUrdfLinkVisualShapeIndices;
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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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UrdfVisualShapeCache* cachedLinkGraphicsShapes = 0);
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#endif //_URDF2BULLET_H
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