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Extras/InverseDynamics/btMultiBodyTreeCreator.hpp
52 строки
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erwincoumans
Code-style consistency improvement:
24 сен 2018, 00:17
24 сен 2018, 00:17
ab8f169
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#ifndef BTMULTIBODYTREECREATOR_HPP_ #define BTMULTIBODYTREECREATOR_HPP_ #include <vector> #include "BulletInverseDynamics/IDConfig.hpp" #include "MultiBodyTreeCreator.hpp" #include "BulletDynamics/Featherstone/btMultiBody.h" namespace btInverseDynamics { /// MultiBodyTreeCreator implementation for converting /// a btMultiBody forward dynamics model into a MultiBodyTree inverse dynamics model class btMultiBodyTreeCreator : public MultiBodyTreeCreator { public: /// ctor btMultiBodyTreeCreator(); /// dtor ~btMultiBodyTreeCreator() {} /// extract model data from a btMultiBody /// @param btmb pointer to btMultiBody to convert /// @param verbose if true, some information is printed /// @return -1 on error, 0 on success int createFromBtMultiBody(const btMultiBody *btmb, const bool verbose = false); /// \copydoc MultiBodyTreeCreator::getNumBodies int getNumBodies(int *num_bodies) const; ///\copydoc MultiBodyTreeCreator::getBody int getBody(const int body_index, int *parent_index, JointType *joint_type, vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref, vec3 *body_axis_of_motion, idScalar *mass, vec3 *body_r_body_com, mat33 *body_I_body, int *user_int, void **user_ptr) const; private: // internal struct holding data extracted from btMultiBody struct LinkData { int parent_index; JointType joint_type; vec3 parent_r_parent_body_ref; mat33 body_T_parent_ref; vec3 body_axis_of_motion; idScalar mass; vec3 body_r_body_com; mat33 body_I_body; }; idArray<LinkData>::type m_data; bool m_initialized; }; } // namespace btInverseDynamics #endif // BTMULTIBODYTREECREATOR_HPP_