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https://github.com/bulletphysics/bullet3
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ba8964c4ac
This change adds support for calculating Jacobians and dot(Jacobian)*u terms, along with the required support for the 3xN matrices in the standalone math library. It also adds functions to compute kinematics only (position, velocity, accel). To facilitate tests, the Cl also adds a RandomTreeCreator to create randomized multibody trees. Thanks to Thomas Buschmann for this contribution!
28 lines
988 B
C++
28 lines
988 B
C++
#ifndef CLONETREE_CREATOR_HPP_
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#define CLONETREE_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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/// Generate an identical multibody tree from a reference system.
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class CloneTreeCreator : public MultiBodyTreeCreator {
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public:
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/// ctor
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/// @param reference the MultiBodyTree to clone
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CloneTreeCreator(const MultiBodyTree*reference);
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~CloneTreeCreator();
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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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const MultiBodyTree *m_reference;
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};
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}
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#endif // CLONETREE_CREATOR_HPP_
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