SimMjcf.h

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#pragma once
 
#include <filesystem>
 
#include <VirtualRobot/MJCF/Document.h>
#include <VirtualRobot/SceneObject.h>
 
#include <ArmarXCore/core/logging/Logging.h>
 
namespace armarx
{
    class LengthScaling;
}
 
namespace armarx
{
 
    class SimMJCF : Logging
    {
    public:
        SimMJCF(mjcf::Document& document,
                const LengthScaling& scaling,
                const std::string& loggingTag = "SimMJCF");
 
        void includeBaseFile(const std::string& path, const std::string& relativeFrom);
 
        void addObjectDefaults(const std::string& className);
 
        void setTimeStep(float timestep);
 
        void
        addFloor(bool enabled, const std::string& texture, const std::string& name, float size);
 
        void addObject(VirtualRobot::SceneObjectPtr object,
                       VirtualRobot::SceneObject::Physics::SimulationType simType,
                       const std::string& className,
                       const std::filesystem::path& meshDir);
 
 
    private:
        mjcf::Document& document;
        const LengthScaling& scaling;
    };
 
} // namespace armarx