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#ifndef URDF_IMPORTER_INTERFACE_H
#define URDF_IMPORTER_INTERFACE_H
#include <string>
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include "URDFJointTypes.h"
#include "SDFAudioTypes.h"
class URDFImporterInterface
{
public:
virtual ~URDFImporterInterface() {}
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false) = 0;
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false; }
virtual const char* getPathPrefix() = 0;
///return >=0 for the root link index, -1 if there is no root link
virtual int getRootLinkIndex() const = 0;
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const = 0;
//various derived class in internal source code break with new pure virtual methods, so provide some default implementation
virtual std::string getBodyName() const
{
return "";
}
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false; }
virtual bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const { return false; }
virtual void setLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const {}
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const { return 0; }
///this API will likely change, don't override it!
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo) const { return false; }
virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const { return false; }
virtual std::string getJointName(int linkIndex) const = 0;
//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
virtual void getMassAndInertia(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame) const = 0;
virtual void getMassAndInertia2(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame, int flags) const
{
getMassAndInertia(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrame);
}
///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const = 0;
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const = 0;
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
{
//backwards compatibility for custom file importers
jointMaxForce = 0;
jointMaxVelocity = 0;
return getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction);
};
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
{
//backwards compatibility for custom file importers
twistLimit = 0;
return getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity);
};
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const = 0;
virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld) {}
///quick hack: need to rethink the API/dependencies of this
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const { return -1; }
virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const {}
virtual void setBodyUniqueId(int bodyId) {}
virtual int getBodyUniqueId() const { return 0; }
//default implementation for backward compatibility
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
virtual int getUrdfFromCollisionShape(const class btCollisionShape* collisionShape, struct UrdfCollision& collision) const
{
return 0;
}
virtual const struct UrdfLink* getUrdfLink(int urdfLinkIndex) const
{
return 0;
}
virtual const struct UrdfModel* getUrdfModel() const { return 0; };
virtual int getNumAllocatedCollisionShapes() const { return 0; }
virtual class btCollisionShape* getAllocatedCollisionShape(int /*index*/) { return 0; }
virtual int getNumModels() const { return 0; }
virtual void activateModel(int /*modelIndex*/) {}
virtual int getNumAllocatedMeshInterfaces() const { return 0; }
virtual int getNumAllocatedTextures() const { return 0; }
virtual int getAllocatedTexture(int index) const { return 0; }
virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index) { return 0; }
};
#endif //URDF_IMPORTER_INTERFACE_H
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