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Diffstat (limited to 'thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp')
| -rw-r--r-- | thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp | 109 |
1 files changed, 109 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp new file mode 100644 index 0000000000..0d2aa4a071 --- /dev/null +++ b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp @@ -0,0 +1,109 @@ +#ifndef MULTIBODYTREEINITCACHE_HPP_ +#define MULTIBODYTREEINITCACHE_HPP_ + +#include "../IDConfig.hpp" +#include "../IDMath.hpp" +#include "../MultiBodyTree.hpp" + +namespace btInverseDynamics { +/// Mass properties of a rigid body +struct InertiaData { + ID_DECLARE_ALIGNED_ALLOCATOR(); + + /// mass + idScalar m_mass; + /// vector from body-fixed frame to center of mass, + /// in body-fixed frame, multiplied by the mass + vec3 m_body_pos_body_com; + /// moment of inertia w.r.t. the origin of the body-fixed + /// frame, represented in that frame + mat33 m_body_I_body; +}; + +/// Joint properties +struct JointData { + ID_DECLARE_ALIGNED_ALLOCATOR(); + + /// type of joint + JointType m_type; + /// index of parent body + int m_parent; + /// index of child body + int m_child; + /// vector from parent's body-fixed frame to child's body-fixed + /// frame for q=0, written in the parent's body fixed frame + vec3 m_parent_pos_parent_child_ref; + /// Transform matrix converting vectors written in the parent's frame + /// into vectors written in the child's frame for q=0 + /// ie, child_vector = child_T_parent_ref * parent_vector; + mat33 m_child_T_parent_ref; + /// Axis of motion for 1 degree-of-freedom joints, + /// written in the child's frame + /// For revolute joints, the q-value is positive for a positive + /// rotation about this axis. + /// For prismatic joints, the q-value is positive for a positive + /// translation is this direction. + vec3 m_child_axis_of_motion; +}; + +/// Data structure to store data passed by the user. +/// This is used in MultiBodyTree::finalize to build internal data structures. +class MultiBodyTree::InitCache { +public: + ID_DECLARE_ALIGNED_ALLOCATOR(); + /// constructor + InitCache(); + ///\copydoc MultiBodyTree::addBody + int addBody(const int body_index, const int parent_index, const JointType joint_type, + const vec3 &parent_r_parent_body_ref, const mat33 &body_T_parent_ref, + const vec3 &body_axis_of_motion, idScalar mass, const vec3 &body_r_body_com, + const mat33 &body_I_body, const int user_int, void *user_ptr); + /// build index arrays + /// @return 0 on success, -1 on failure + int buildIndexSets(); + /// @return number of degrees of freedom + int numDoFs() const { return m_num_dofs; } + /// @return number of bodies + int numBodies() const { return m_inertias.size(); } + /// get inertia data for index + /// @param index of the body + /// @param inertia pointer for return data + /// @return 0 on success, -1 on failure + int getInertiaData(const int index, InertiaData *inertia) const; + /// get joint data for index + /// @param index of the body + /// @param joint pointer for return data + /// @return 0 on success, -1 on failure + int getJointData(const int index, JointData *joint) const; + /// get parent index array (paren_index[i] is the index of the parent of i) + /// @param parent_index pointer for return data + void getParentIndexArray(idArray<int>::type *parent_index) { *parent_index = m_parent_index; } + /// get user integer + /// @param index body index + /// @param user_int user integer + /// @return 0 on success, -1 on failure + int getUserInt(const int index, int *user_int) const; + /// get user pointer + /// @param index body index + /// @param user_int user pointer + /// @return 0 on success, -1 on failure + int getUserPtr(const int index, void **user_ptr) const; + +private: + // vector of bodies + idArray<InertiaData>::type m_inertias; + // vector of joints + idArray<JointData>::type m_joints; + // number of mechanical degrees of freedom + int m_num_dofs; + // parent index array + idArray<int>::type m_parent_index; + // user integers + idArray<int>::type m_user_int; + // user pointers + idArray<void *>::type m_user_ptr; + // index of root body (or -1 if not set) + int m_root_index; +}; +} +#endif // MULTIBODYTREEINITCACHE_HPP_ |