mirror of
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
92 lines
2.2 KiB
C++
92 lines
2.2 KiB
C++
#include "RandomTreeCreator.hpp"
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#include <cstdio>
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#include "IDRandomUtil.hpp"
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namespace btInverseDynamics
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{
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RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed)
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{
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// seed generator
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if (random_seed)
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{
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randomInit(); // seeds with time()
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}
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else
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{
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randomInit(1); // seeds with 1
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}
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m_num_bodies = randomInt(1, max_bodies);
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}
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RandomTreeCreator::~RandomTreeCreator() {}
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int RandomTreeCreator::getNumBodies(int* num_bodies) const
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{
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*num_bodies = m_num_bodies;
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return 0;
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}
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int RandomTreeCreator::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,
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vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
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mat33* body_I_body, int* user_int, void** user_ptr) const
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{
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if (0 == body_index)
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{ //root body
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*parent_index = -1;
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}
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else
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{
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*parent_index = randomInt(0, body_index - 1);
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}
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switch (randomInt(0, 3))
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{
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case 0:
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*joint_type = FIXED;
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break;
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case 1:
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*joint_type = REVOLUTE;
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break;
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case 2:
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*joint_type = PRISMATIC;
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break;
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case 3:
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*joint_type = FLOATING;
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break;
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default:
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bt_id_error_message("randomInt() result out of range\n");
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return -1;
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}
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(*parent_r_parent_body_ref)(0) = randomFloat(-1.0, 1.0);
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(*parent_r_parent_body_ref)(1) = randomFloat(-1.0, 1.0);
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(*parent_r_parent_body_ref)(2) = randomFloat(-1.0, 1.0);
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bodyTParentFromAxisAngle(randomAxis(), randomFloat(-BT_ID_PI, BT_ID_PI), body_T_parent_ref);
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*body_axis_of_motion = randomAxis();
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*mass = randomMass();
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(*body_r_body_com)(0) = randomFloat(-1.0, 1.0);
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(*body_r_body_com)(1) = randomFloat(-1.0, 1.0);
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(*body_r_body_com)(2) = randomFloat(-1.0, 1.0);
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const double a = randomFloat(-BT_ID_PI, BT_ID_PI);
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const double b = randomFloat(-BT_ID_PI, BT_ID_PI);
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const double c = randomFloat(-BT_ID_PI, BT_ID_PI);
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vec3 ii = randomInertiaPrincipal();
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mat33 ii_diag;
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setZero(ii_diag);
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ii_diag(0, 0) = ii(0);
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ii_diag(1, 1) = ii(1);
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ii_diag(2, 2) = ii(2);
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*body_I_body = transformX(a) * transformY(b) * transformZ(c) * ii_diag *
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transformZ(-c) * transformY(-b) * transformX(-a);
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*user_int = 0;
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*user_ptr = 0;
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return 0;
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}
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} // namespace btInverseDynamics
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