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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
60 lines
2.2 KiB
C++
60 lines
2.2 KiB
C++
#include "CloneTreeCreator.hpp"
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#include <cstdio>
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namespace btInverseDynamics
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{
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#define CHECK_NULLPTR() \
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do \
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{ \
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if (m_reference == 0x0) \
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{ \
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bt_id_error_message("m_reference == 0x0\n"); \
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return -1; \
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} \
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} while (0)
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#define TRY(x) \
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do \
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{ \
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if (x == -1) \
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{ \
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bt_id_error_message("error calling " #x "\n"); \
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return -1; \
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} \
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} while (0)
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CloneTreeCreator::CloneTreeCreator(const MultiBodyTree* reference)
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{
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m_reference = reference;
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}
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CloneTreeCreator::~CloneTreeCreator() {}
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int CloneTreeCreator::getNumBodies(int* num_bodies) const
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{
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CHECK_NULLPTR();
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*num_bodies = m_reference->numBodies();
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return 0;
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}
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int CloneTreeCreator::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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CHECK_NULLPTR();
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TRY(m_reference->getParentIndex(body_index, parent_index));
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TRY(m_reference->getJointType(body_index, joint_type));
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TRY(m_reference->getParentRParentBodyRef(body_index, parent_r_parent_body_ref));
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TRY(m_reference->getBodyTParentRef(body_index, body_T_parent_ref));
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TRY(m_reference->getBodyAxisOfMotion(body_index, body_axis_of_motion));
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TRY(m_reference->getBodyMass(body_index, mass));
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TRY(m_reference->getBodyFirstMassMoment(body_index, body_r_body_com));
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TRY(m_reference->getBodySecondMassMoment(body_index, body_I_body));
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TRY(m_reference->getUserInt(body_index, user_int));
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TRY(m_reference->getUserPtr(body_index, user_ptr));
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return 0;
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}
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} // namespace btInverseDynamics
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