BulletURDFImporter class
Derived importer class for loading URDF into Bullet physics.
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 initURDFToBulletCache(const esp::metadata::attributes::ArticulatedObjectAttributes::ptr& artObjAttributes)
-
void convertURDFToBullet(const Magnum::
Matrix4& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1, std:: map<int, std:: unique_ptr<btCompoundShape>>& linkCompoundShapes, std:: map<int, std:: vector<std:: unique_ptr<btCollisionShape>>>& linkChildShapes) - Traverse the kinematic chain constructing the btMultiBody.
-
void getAllIndices(int urdfLinkIndex,
int parentIndex,
std::
vector<childParentIndex>& allIndices)
Public variables
Protected functions
-
auto convertURDFToBulletInternal(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.
-
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(URDFToBulletCached& bulletCache, int urdfLinkIndex, int urdfParentIndex)
- Compute the new Bullet link indices from the URDF::Model.
Function documentation
void esp::
Initialize the temporary Bullet cache for multibody construction from the active URDF::Model
void esp::
Recursively get all indices from the model with mappings between parents and children
btCollisionShape* esp::
Construct a set of Bullet collision shapes from the URDF::CollisionShape metadata
Variable documentation
std::
The temporary Bullet multibody cache initialized by convertURDFToBulletInternal and cleared after instancing the object