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https://github.com/bulletphysics/bullet3
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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
34 lines
1.2 KiB
C++
34 lines
1.2 KiB
C++
#ifndef RANDOMTREE_CREATOR_HPP_
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#define RANDOMTREE_CREATOR_HPP_
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#include "BulletInverseDynamics/IDConfig.hpp"
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#include "MultiBodyTreeCreator.hpp"
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namespace btInverseDynamics
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{
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/// Generate a random MultiBodyTree with fixed or floating base and fixed, prismatic or revolute
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/// joints
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/// Uses a pseudo random number generator seeded from a random device.
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class RandomTreeCreator : public MultiBodyTreeCreator
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{
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public:
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/// ctor
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/// @param max_bodies maximum number of bodies
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/// @param gravity gravitational acceleration
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/// @param use_seed if true, seed random number generator
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RandomTreeCreator(const int max_bodies, bool use_seed = false);
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~RandomTreeCreator();
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///\copydoc MultiBodyTreeCreator::getNumBodies
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int getNumBodies(int* num_bodies) const;
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///\copydoc MultiBodyTreeCreator::getBody
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int getBody(const int body_index, int* parent_index, JointType* joint_type,
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vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
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idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
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void** user_ptr) const;
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private:
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int m_num_bodies;
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};
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} // namespace btInverseDynamics
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#endif // RANDOMTREE_CREATOR_HPP_
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