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