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35 lines
1.0 KiB
C++
35 lines
1.0 KiB
C++
#ifndef SIMPLETREECREATOR_HPP_
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#define SIMPLETREECREATOR_HPP_
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#include "MultiBodyTreeCreator.hpp"
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namespace btInverseDynamics {
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/// minimal "tree" (chain)
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class SimpleTreeCreator : public MultiBodyTreeCreator {
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public:
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/// ctor
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/// @param dim number of bodies
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SimpleTreeCreator(int dim);
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// dtor
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~SimpleTreeCreator() {}
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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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int m_num_bodies;
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idScalar m_mass;
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mat33 m_body_T_parent_ref;
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vec3 m_parent_r_parent_body_ref;
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vec3 m_body_r_body_com;
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mat33 m_body_I_body;
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vec3 m_axis;
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};
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}
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#endif // SIMPLETREECREATOR_HPP_
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