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https://github.com/bulletphysics/bullet3
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72 lines
2.2 KiB
C++
72 lines
2.2 KiB
C++
#pragma once
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#include "SpAlg.h"
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#include "MathUtil.h"
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// this class is mostly to help with efficiency by precomputing some useful
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// quantities for RBD calculations
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class cRBDModel
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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cRBDModel();
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virtual ~cRBDModel();
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virtual void Init(const Eigen::MatrixXd& joint_mat, const Eigen::MatrixXd& body_defs, const tVector& gravity);
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virtual void Update(const Eigen::VectorXd& pose, const Eigen::VectorXd& vel);
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virtual int GetNumDof() const;
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virtual int GetNumJoints() const;
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virtual const tVector& GetGravity() const;
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virtual void SetGravity(const tVector& gravity);
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virtual const Eigen::MatrixXd& GetJointMat() const;
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virtual const Eigen::MatrixXd& GetBodyDefs() const;
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virtual const Eigen::VectorXd& GetPose() const;
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virtual const Eigen::VectorXd& GetVel() const;
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virtual int GetParent(int j) const;
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virtual const Eigen::MatrixXd& GetMassMat() const;
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virtual const Eigen::VectorXd& GetBiasForce() const;
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virtual Eigen::MatrixXd& GetInertiaBuffer();
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virtual tMatrix GetChildParentMat(int j) const;
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virtual tMatrix GetParentChildMat(int j) const;
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virtual cSpAlg::tSpTrans GetSpChildParentTrans(int j) const;
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virtual cSpAlg::tSpTrans GetSpParentChildTrans(int j) const;
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virtual tMatrix GetWorldJointMat(int j) const;
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virtual tMatrix GetJointWorldMat(int j) const;
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virtual cSpAlg::tSpTrans GetSpWorldJointTrans(int j) const;
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virtual cSpAlg::tSpTrans GetSpJointWorldTrans(int j) const;
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virtual const Eigen::Block<const Eigen::MatrixXd> GetJointSubspace(int j) const;
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virtual tVector CalcJointWorldPos(int j) const;
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protected:
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tVector mGravity;
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Eigen::MatrixXd mJointMat;
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Eigen::MatrixXd mBodyDefs;
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Eigen::VectorXd mPose;
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Eigen::VectorXd mVel;
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Eigen::MatrixXd mJointSubspaceArr;
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Eigen::MatrixXd mChildParentMatArr;
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Eigen::MatrixXd mSpWorldJointTransArr;
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Eigen::MatrixXd mMassMat;
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Eigen::VectorXd mBiasForce;
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Eigen::MatrixXd mInertiaBuffer;
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virtual void SetPose(const Eigen::VectorXd& pose);
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virtual void SetVel(const Eigen::VectorXd& vel);
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virtual void InitJointSubspaceArr();
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virtual void UpdateJointSubspaceArr();
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virtual void UpdateChildParentMatArr();
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virtual void UpdateSpWorldTrans();
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virtual void UpdateMassMat();
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virtual void UpdateBiasForce();
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};
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