mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
96 lines
2.4 KiB
C++
96 lines
2.4 KiB
C++
/*
|
|
*
|
|
* Inverse Kinematics software, with several solvers including
|
|
* Selectively Damped Least Squares Method
|
|
* Damped Least Squares Method
|
|
* Pure Pseudoinverse Method
|
|
* Jacobian Transpose Method
|
|
*
|
|
*
|
|
* Author: Samuel R. Buss, sbuss@ucsd.edu.
|
|
* Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html
|
|
*
|
|
*
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*
|
|
*
|
|
*/
|
|
|
|
#include "LinearR3.h"
|
|
#include "Node.h"
|
|
|
|
#ifndef _CLASS_TREE
|
|
#define _CLASS_TREE
|
|
|
|
class Tree
|
|
{
|
|
public:
|
|
Tree();
|
|
|
|
int GetNumNode() const { return nNode; }
|
|
int GetNumEffector() const { return nEffector; }
|
|
int GetNumJoint() const { return nJoint; }
|
|
void InsertRoot(Node*);
|
|
void InsertLeftChild(Node* parent, Node* child);
|
|
void InsertRightSibling(Node* parent, Node* child);
|
|
|
|
// Accessors based on node numbers
|
|
Node* GetJoint(int);
|
|
Node* GetEffector(int);
|
|
const VectorR3& GetEffectorPosition(int);
|
|
|
|
// Accessors for tree traversal
|
|
Node* GetRoot() const { return root; }
|
|
Node* GetSuccessor(const Node*) const;
|
|
Node* GetParent(const Node* node) const { return node->realparent; }
|
|
|
|
void Compute();
|
|
|
|
void Print();
|
|
void Init();
|
|
void UnFreeze();
|
|
|
|
private:
|
|
Node* root;
|
|
int nNode; // nNode = nEffector + nJoint
|
|
int nEffector;
|
|
int nJoint;
|
|
void SetSeqNum(Node*);
|
|
Node* SearchJoint(Node*, int);
|
|
Node* SearchEffector(Node*, int);
|
|
void ComputeTree(Node*);
|
|
|
|
void PrintTree(Node*);
|
|
void InitTree(Node*);
|
|
void UnFreezeTree(Node*);
|
|
};
|
|
|
|
inline Node* Tree::GetSuccessor(const Node* node) const
|
|
{
|
|
if (node->left)
|
|
{
|
|
return node->left;
|
|
}
|
|
while (true)
|
|
{
|
|
if (node->right)
|
|
{
|
|
return (node->right);
|
|
}
|
|
node = node->realparent;
|
|
if (!node)
|
|
{
|
|
return 0; // Back to root, finished traversal
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif |