1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
|
#include "MultiBodyTreeInitCache.hpp"
namespace btInverseDynamics
{
MultiBodyTree::InitCache::InitCache()
{
m_inertias.resize(0);
m_joints.resize(0);
m_num_dofs = 0;
m_root_index = -1;
}
int MultiBodyTree::InitCache::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, const idScalar mass,
const vec3& body_r_body_com, const mat33& body_I_body,
const int user_int, void* user_ptr)
{
switch (joint_type)
{
case REVOLUTE:
case PRISMATIC:
m_num_dofs += 1;
break;
case FIXED:
// does not add a degree of freedom
// m_num_dofs+=0;
break;
case SPHERICAL:
m_num_dofs += 3;
break;
case FLOATING:
m_num_dofs += 6;
break;
default:
bt_id_error_message("unknown joint type %d\n", joint_type);
return -1;
}
if (-1 == parent_index)
{
if (m_root_index >= 0)
{
bt_id_error_message("trying to add body %d as root, but already added %d as root body\n",
body_index, m_root_index);
return -1;
}
m_root_index = body_index;
}
JointData joint;
joint.m_child = body_index;
joint.m_parent = parent_index;
joint.m_type = joint_type;
joint.m_parent_pos_parent_child_ref = parent_r_parent_body_ref;
joint.m_child_T_parent_ref = body_T_parent_ref;
joint.m_child_axis_of_motion = body_axis_of_motion;
InertiaData body;
body.m_mass = mass;
body.m_body_pos_body_com = body_r_body_com;
body.m_body_I_body = body_I_body;
m_inertias.push_back(body);
m_joints.push_back(joint);
m_user_int.push_back(user_int);
m_user_ptr.push_back(user_ptr);
return 0;
}
int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inertia) const
{
if (index < 0 || index > static_cast<int>(m_inertias.size()))
{
bt_id_error_message("index out of range\n");
return -1;
}
*inertia = m_inertias[index];
return 0;
}
int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const
{
if (index < 0 || index > static_cast<int>(m_user_int.size()))
{
bt_id_error_message("index out of range\n");
return -1;
}
*user_int = m_user_int[index];
return 0;
}
int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const
{
if (index < 0 || index > static_cast<int>(m_user_ptr.size()))
{
bt_id_error_message("index out of range\n");
return -1;
}
*user_ptr = m_user_ptr[index];
return 0;
}
int MultiBodyTree::InitCache::getJointData(const int index, JointData* joint) const
{
if (index < 0 || index > static_cast<int>(m_joints.size()))
{
bt_id_error_message("index out of range\n");
return -1;
}
*joint = m_joints[index];
return 0;
}
int MultiBodyTree::InitCache::buildIndexSets()
{
// NOTE: This function assumes that proper indices were provided
// User2InternalIndex from utils can be used to facilitate this.
m_parent_index.resize(numBodies());
for (idArrayIdx j = 0; j < m_joints.size(); j++)
{
const JointData& joint = m_joints[j];
m_parent_index[joint.m_child] = joint.m_parent;
}
return 0;
}
} // namespace btInverseDynamics
|