mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-03-25 15:19:30 +00:00
48 lines
1.8 KiB
C++
48 lines
1.8 KiB
C++
|
#ifndef DILLCREATOR_HPP_
|
|||
|
|
#define DILLCREATOR_HPP_
|
|||
|
|
|
|||
|
|
#include "MultiBodyTreeCreator.hpp"
|
|||
|
|
|
|||
|
|
namespace btInverseDynamics {
|
|||
|
|
|
|||
|
|
|
|||
|
|
/// Creator class for building a "Dill" system as intruduced as benchmark example in
|
|||
|
|
/// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
|
|||
|
|
/// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International
|
|||
|
|
/// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
|
|||
|
|
///
|
|||
|
|
/// This is a self-similar branched tree, somewhat resembling a dill plant
|
|||
|
|
class DillCreator : public MultiBodyTreeCreator {
|
|||
|
|
public:
|
|||
|
|
/// ctor
|
|||
|
|
/// @param levels the number of dill levels
|
|||
|
|
DillCreator(int levels);
|
|||
|
|
/// dtor
|
|||
|
|
~DillCreator();
|
|||
|
|
///\copydoc MultiBodyTreeCreator::getNumBodies
|
|||
|
|
int getNumBodies(int* num_bodies) const;
|
|||
|
|
///\copydoc MultiBodyTreeCreator::getBody
|
|||
|
|
int getBody(const int body_index, int* parent_index, JointType* joint_type,
|
|||
|
|
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
|
|||
|
|
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
|
|||
|
|
void** user_ptr) const;
|
|||
|
|
|
|||
|
|
private:
|
|||
|
|
/// recursively generate dill bodies.
|
|||
|
|
/// TODO better documentation
|
|||
|
|
int recurseDill(const int levels, const int parent, const idScalar d_DH_in,
|
|||
|
|
const idScalar a_DH_in, const idScalar alpha_DH_in);
|
|||
|
|
int m_level;
|
|||
|
|
int m_num_bodies;
|
|||
|
|
idArray<int>::type m_parent;
|
|||
|
|
idArray<vec3>::type m_parent_r_parent_body_ref;
|
|||
|
|
idArray<mat33>::type m_body_T_parent_ref;
|
|||
|
|
idArray<vec3>::type m_body_axis_of_motion;
|
|||
|
|
idArray<idScalar>::type m_mass;
|
|||
|
|
idArray<vec3>::type m_body_r_body_com;
|
|||
|
|
idArray<mat33>::type m_body_I_body;
|
|||
|
|
int m_current_body;
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
#endif
|