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https://github.com/bulletphysics/bullet3
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51 lines
1.7 KiB
C++
51 lines
1.7 KiB
C++
#ifndef BTMULTIBODYTREECREATOR_HPP_
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#define BTMULTIBODYTREECREATOR_HPP_
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#include <vector>
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#include "BulletInverseDynamics/IDConfig.hpp"
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#include "MultiBodyTreeCreator.hpp"
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#include "BulletDynamics/Featherstone/btMultiBody.h"
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namespace btInverseDynamics {
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/// MultiBodyTreeCreator implementation for converting
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/// a btMultiBody forward dynamics model into a MultiBodyTree inverse dynamics model
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class btMultiBodyTreeCreator : public MultiBodyTreeCreator {
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public:
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/// ctor
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btMultiBodyTreeCreator();
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/// dtor
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~btMultiBodyTreeCreator() {}
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/// extract model data from a btMultiBody
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/// @param btmb pointer to btMultiBody to convert
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/// @param verbose if true, some information is printed
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/// @return -1 on error, 0 on success
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int createFromBtMultiBody(const btMultiBody *btmb, const bool verbose = false);
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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(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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// internal struct holding data extracted from btMultiBody
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struct LinkData {
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int parent_index;
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JointType joint_type;
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vec3 parent_r_parent_body_ref;
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mat33 body_T_parent_ref;
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vec3 body_axis_of_motion;
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idScalar mass;
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vec3 body_r_body_com;
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mat33 body_I_body;
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};
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std::vector<LinkData> m_data;
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bool m_initialized;
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};
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}
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#endif // BTMULTIBODYTREECREATOR_HPP_
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