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Diffstat (limited to 'thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp')
| -rw-r--r-- | thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp | 113 |
1 files changed, 0 insertions, 113 deletions
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp deleted file mode 100644 index dbdb3ff604..0000000000 --- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.hpp +++ /dev/null @@ -1,113 +0,0 @@ -#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; -}; -} // namespace btInverseDynamics -#endif // MULTIBODYTREEINITCACHE_HPP_ |