1 #ifndef URDF2PHYSX_H 2 #define URDF2PHYSX_H 3 4 #include "Bullet3Common/b3AlignedObjectArray.h" 5 #include "../../Importers/ImportURDFDemo/URDFJointTypes.h" 6 7 namespace physx 8 { 9 class PxBase; 10 class PxFoundation; 11 class PxPhysics; 12 class PxDefaultCpuDispatcher; 13 class PxScene; 14 class PxCooking; 15 class PxArticulationReducedCoordinate; 16 }; 17 18 struct UrdfVisualShapeCache2 19 { 20 b3AlignedObjectArray<UrdfMaterialColor> m_cachedUrdfLinkColors; 21 b3AlignedObjectArray<int> m_cachedUrdfLinkVisualShapeIndices; 22 }; 23 24 physx::PxBase* URDF2PhysX(physx::PxFoundation* foundation, physx::PxPhysics* physics, physx::PxCooking* cooking, physx::PxScene* scene, class PhysXURDFImporter& u2p, int flags, const char* pathPrefix, const class btTransform& rootTransformInWorldSpace,struct CommonFileIOInterface* fileIO, bool createActiculation); 25 26 #endif //URDF2PHYSX_H