mirror of
https://github.com/bulletphysics/bullet3
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47 lines
1.5 KiB
C++
47 lines
1.5 KiB
C++
#ifndef USER2INTERNALINDEX_HPP
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#define USER2INTERNALINDEX_HPP
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#include <map>
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#include <vector>
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#include "BulletInverseDynamics/IDConfig.hpp"
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namespace btInverseDynamics {
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/// Convert arbitrary indexing scheme to internal indexing
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/// used for MultiBodyTree
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class User2InternalIndex {
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public:
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/// Ctor
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User2InternalIndex();
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/// add body to index maps
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/// @param body index of body to add (external)
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/// @param parent index of parent body (external)
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void addBody(const int body, const int parent);
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/// build mapping from external to internal indexing
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/// @return 0 on success, -1 on failure
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int buildMapping();
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/// get internal index from external index
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/// @param user external (user) index
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/// @param internal pointer for storage of corresponding internal index
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/// @return 0 on success, -1 on failure
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int user2internal(const int user, int *internal) const;
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/// get internal index from external index
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/// @param user external (user) index
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/// @param internal pointer for storage of corresponding internal index
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/// @return 0 on success, -1 on failure
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int internal2user(const int internal, int *user) const;
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private:
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int findRoot(int index);
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void recurseIndexSets(const int user_body_index);
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bool m_map_built;
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std::map<int, int> m_user_parent_index_map;
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std::map<int, int> m_user_to_internal;
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std::map<int, int> m_internal_to_user;
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std::map<int, std::vector<int> > m_user_child_indices;
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int m_current_index;
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};
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}
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#endif // USER2INTERNALINDEX_HPP
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