esp::physics::BulletURDFImporter class

#include <esp/physics/bullet/BulletURDFImporter.h>

Base classes

class URDFImporter

Virtual base class for loading URDF into various simulator implementations.

Constructors, destructors, conversion operators

BulletURDFImporter(esp::assets::ResourceManager& resourceManager) explicit

~BulletURDFImporter() defaulted override

Public functions

void initURDF2BulletCache()

auto convertURDF2BulletInternal(int urdfLinkIndex, const Magnum::Matrix4& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1, std::map<int, std::unique_ptr<btCompoundShape>>& linkCompoundShapes, std::map<int, std::vector<std::unique_ptr<btCollisionShape>>>& linkChildShapes, bool recursive = false) -> Magnum::Matrix4

Traverse the kinematic chain recursively constructing the btMultiBody.

void getAllIndices(int urdfLinkIndex, int parentIndex, std::vector<childParentIndex>& allIndices)

Public variables

std::shared_ptr<URDF2BulletCached> cache

Protected functions

auto convertURDFToCollisionShape(const struct metadata::URDF::CollisionShape* collision, std::vector<std::unique_ptr<btCollisionShape>>& linkChildShapes) -> btCollisionShape*

auto convertLinkCollisionShapes(int linkIndex, const btTransform& localInertiaFrame, std::vector<std::unique_ptr<btCollisionShape>>& linkChildShapes) -> btCompoundShape*

Construct all Bullet collision shapes for a link in the active URDF::Model.

auto getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const -> int

Get configured collision groups and masks for a link's collision shape.

void computeTotalNumberOfJoints(int linkIndex)

void computeParentIndices(URDF2BulletCached& bulletCache, int urdfLinkIndex, int urdfParentIndex)

Compute the new Bullet link indices from the URDF::Model.

Function documentation

Variable documentation