bullet3/Extras/InverseDynamics/RandomTreeCreator.hpp

#ifndef RANDOMTREE_CREATOR_HPP_
#define RANDOMTREE_CREATOR_HPP_

#include "BulletInverseDynamics/IDConfig.hpp"
#include "MultiBodyTreeCreator.hpp"

namespace btInverseDynamics
{
/// Generate a random MultiBodyTree with fixed or floating base and fixed, prismatic or revolute
/// joints
/// Uses a pseudo random number generator seeded from a random device.
class RandomTreeCreator : public MultiBodyTreeCreator
{
public:
	/// ctor
	/// @param max_bodies maximum number of bodies
	/// @param gravity gravitational acceleration
	/// @param use_seed if true, seed random number generator
	RandomTreeCreator(const int max_bodies, bool use_seed = false);
	~RandomTreeCreator();
	///\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:
	int m_num_bodies;
};
}  // namespace btInverseDynamics
#endif  // RANDOMTREE_CREATOR_HPP_