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#ifndef BULLET_URDF_IMPORTER_H
#define BULLET_URDF_IMPORTER_H
#include "URDFImporterInterface.h"
#include "UrdfRenderingInterface.h"
#include "UrdfParser.h"
struct BulletURDFTexture
{
int m_width;
int m_height;
unsigned char* textureData1;
bool m_isCached;
};
///BulletURDFImporter can deal with URDF and (soon) SDF files
class BulletURDFImporter : public URDFImporterInterface
{
struct BulletURDFInternalData* m_data;
public:
BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, struct CommonFileIOInterface* fileIO=0,double globalScaling=1, int flags=0);
virtual ~BulletURDFImporter();
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
//warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);
virtual int getNumModels() const;
virtual void activateModel(int modelIndex);
virtual void setBodyUniqueId(int bodyId);
virtual int getBodyUniqueId() const;
const char* getPathPrefix();
void printTree(); //for debugging
virtual int getRootLinkIndex() const;
virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
virtual std::string getBodyName() const;
virtual std::string getLinkName(int linkIndex) const;
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
virtual bool getLinkColor2(int linkIndex, UrdfMaterialColor& matCol) const;
virtual void setLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const;
virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo) const;
virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const;
virtual std::string getJointName(int linkIndex) const;
virtual void getMassAndInertia(int linkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
virtual void getMassAndInertia2(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame, int flags) const;
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;
virtual bool getJointInfo3(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity, btScalar& twistLimit) const;
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld);
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int bodyUniqueId) const;
class btCollisionShape* convertURDFToCollisionShape(const struct UrdfCollision* collision, const char* urdfPathPrefix) const;
virtual int getUrdfFromCollisionShape(const btCollisionShape* collisionShape, UrdfCollision& collision) const;
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
virtual const struct UrdfModel* getUrdfModel() const;
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const;
virtual int getNumAllocatedCollisionShapes() const;
virtual class btCollisionShape* getAllocatedCollisionShape(int index);
virtual int getNumAllocatedMeshInterfaces() const;
virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index);
virtual int getNumAllocatedTextures() const;
virtual int getAllocatedTexture(int index) const;
virtual void setEnableTinyRenderer(bool enable);
void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct BulletURDFTexture>& texturesOut, struct b3ImportMeshData& meshData) const;
const struct UrdfDeformable& getDeformableModel() const;
const struct UrdfReducedDeformable& getReducedDeformableModel() const;
};
#endif //BULLET_URDF_IMPORTER_H
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