mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-09 13:44:32 +00:00
Revert "Updated SDL, Bullet and OpenAL soft libs"
This reverts commit 370161cfb1.
This commit is contained in:
AzaezelX
parent
63be684474
commit
bc77ff0833
1102 changed files with 62741 additions and 204988 deletions
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@ -8,84 +8,69 @@
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#include "details/MultiBodyTreeImpl.hpp"
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#include "details/MultiBodyTreeInitCache.hpp"
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namespace btInverseDynamics
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{
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namespace btInverseDynamics {
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MultiBodyTree::MultiBodyTree()
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: m_is_finalized(false),
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m_mass_parameters_are_valid(true),
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m_accept_invalid_mass_parameters(false),
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m_impl(0x0),
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m_init_cache(0x0)
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{
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m_init_cache(0x0) {
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m_init_cache = new InitCache();
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}
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MultiBodyTree::~MultiBodyTree()
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{
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MultiBodyTree::~MultiBodyTree() {
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delete m_impl;
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delete m_init_cache;
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}
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void MultiBodyTree::setAcceptInvalidMassParameters(bool flag)
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{
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void MultiBodyTree::setAcceptInvalidMassParameters(bool flag) {
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m_accept_invalid_mass_parameters = flag;
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}
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bool MultiBodyTree::getAcceptInvalidMassProperties() const
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{
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bool MultiBodyTree::getAcceptInvalidMassProperties() const {
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return m_accept_invalid_mass_parameters;
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}
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int MultiBodyTree::getBodyOrigin(const int body_index, vec3 *world_origin) const
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{
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int MultiBodyTree::getBodyOrigin(const int body_index, vec3 *world_origin) const {
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return m_impl->getBodyOrigin(body_index, world_origin);
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}
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int MultiBodyTree::getBodyCoM(const int body_index, vec3 *world_com) const
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{
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int MultiBodyTree::getBodyCoM(const int body_index, vec3 *world_com) const {
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return m_impl->getBodyCoM(body_index, world_com);
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}
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int MultiBodyTree::getBodyTransform(const int body_index, mat33 *world_T_body) const
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{
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int MultiBodyTree::getBodyTransform(const int body_index, mat33 *world_T_body) const {
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return m_impl->getBodyTransform(body_index, world_T_body);
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}
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int MultiBodyTree::getBodyAngularVelocity(const int body_index, vec3 *world_omega) const
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{
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int MultiBodyTree::getBodyAngularVelocity(const int body_index, vec3 *world_omega) const {
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return m_impl->getBodyAngularVelocity(body_index, world_omega);
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}
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int MultiBodyTree::getBodyLinearVelocity(const int body_index, vec3 *world_velocity) const
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{
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int MultiBodyTree::getBodyLinearVelocity(const int body_index, vec3 *world_velocity) const {
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return m_impl->getBodyLinearVelocity(body_index, world_velocity);
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}
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int MultiBodyTree::getBodyLinearVelocityCoM(const int body_index, vec3 *world_velocity) const
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{
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int MultiBodyTree::getBodyLinearVelocityCoM(const int body_index, vec3 *world_velocity) const {
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return m_impl->getBodyLinearVelocityCoM(body_index, world_velocity);
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}
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int MultiBodyTree::getBodyAngularAcceleration(const int body_index, vec3 *world_dot_omega) const
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{
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int MultiBodyTree::getBodyAngularAcceleration(const int body_index, vec3 *world_dot_omega) const {
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return m_impl->getBodyAngularAcceleration(body_index, world_dot_omega);
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}
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int MultiBodyTree::getBodyLinearAcceleration(const int body_index, vec3 *world_acceleration) const
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{
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int MultiBodyTree::getBodyLinearAcceleration(const int body_index, vec3 *world_acceleration) const {
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return m_impl->getBodyLinearAcceleration(body_index, world_acceleration);
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}
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int MultiBodyTree::getParentRParentBodyRef(const int body_index, vec3 *r) const
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{
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return m_impl->getParentRParentBodyRef(body_index, r);
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int MultiBodyTree::getParentRParentBodyRef(const int body_index, vec3* r) const {
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return m_impl->getParentRParentBodyRef(body_index, r);
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}
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int MultiBodyTree::getBodyTParentRef(const int body_index, mat33 *T) const
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{
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return m_impl->getBodyTParentRef(body_index, T);
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int MultiBodyTree::getBodyTParentRef(const int body_index, mat33* T) const {
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return m_impl->getBodyTParentRef(body_index, T);
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}
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int MultiBodyTree::getBodyAxisOfMotion(const int body_index, vec3 *axis) const
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{
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return m_impl->getBodyAxisOfMotion(body_index, axis);
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int MultiBodyTree::getBodyAxisOfMotion(const int body_index, vec3* axis) const {
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return m_impl->getBodyAxisOfMotion(body_index, axis);
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}
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void MultiBodyTree::printTree() { m_impl->printTree(); }
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@ -96,16 +81,13 @@ int MultiBodyTree::numBodies() const { return m_impl->m_num_bodies; }
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int MultiBodyTree::numDoFs() const { return m_impl->m_num_dofs; }
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int MultiBodyTree::calculateInverseDynamics(const vecx &q, const vecx &u, const vecx &dot_u,
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vecx *joint_forces)
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{
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if (false == m_is_finalized)
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{
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bt_id_error_message("system has not been initialized\n");
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vecx *joint_forces) {
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if (false == m_is_finalized) {
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error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateInverseDynamics(q, u, dot_u, joint_forces))
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{
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bt_id_error_message("error in inverse dynamics calculation\n");
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if (-1 == m_impl->calculateInverseDynamics(q, u, dot_u, joint_forces)) {
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error_message("error in inverse dynamics calculation\n");
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return -1;
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}
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return 0;
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@ -113,165 +95,142 @@ int MultiBodyTree::calculateInverseDynamics(const vecx &q, const vecx &u, const
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int MultiBodyTree::calculateMassMatrix(const vecx &q, const bool update_kinematics,
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const bool initialize_matrix,
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const bool set_lower_triangular_matrix, matxx *mass_matrix)
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{
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if (false == m_is_finalized)
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{
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bt_id_error_message("system has not been initialized\n");
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const bool set_lower_triangular_matrix, matxx *mass_matrix) {
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if (false == m_is_finalized) {
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error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 ==
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m_impl->calculateMassMatrix(q, update_kinematics, initialize_matrix,
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set_lower_triangular_matrix, mass_matrix))
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{
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bt_id_error_message("error in mass matrix calculation\n");
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set_lower_triangular_matrix, mass_matrix)) {
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error_message("error in mass matrix calculation\n");
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return -1;
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}
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return 0;
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}
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int MultiBodyTree::calculateMassMatrix(const vecx &q, matxx *mass_matrix)
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{
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int MultiBodyTree::calculateMassMatrix(const vecx &q, matxx *mass_matrix) {
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return calculateMassMatrix(q, true, true, true, mass_matrix);
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}
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int MultiBodyTree::calculateKinematics(const vecx &q, const vecx &u, const vecx &dot_u)
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{
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vec3 world_gravity(m_impl->m_world_gravity);
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// temporarily set gravity to zero, to ensure we get the actual accelerations
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setZero(m_impl->m_world_gravity);
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if (false == m_is_finalized)
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{
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bt_id_error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateKinematics(q, u, dot_u,
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MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY_ACCELERATION))
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{
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bt_id_error_message("error in kinematics calculation\n");
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return -1;
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}
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m_impl->m_world_gravity = world_gravity;
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return 0;
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int MultiBodyTree::calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u) {
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vec3 world_gravity(m_impl->m_world_gravity);
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// temporarily set gravity to zero, to ensure we get the actual accelerations
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setZero(m_impl->m_world_gravity);
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if (false == m_is_finalized) {
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error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateKinematics(q, u, dot_u,
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MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY_ACCELERATION)) {
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error_message("error in kinematics calculation\n");
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return -1;
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}
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m_impl->m_world_gravity=world_gravity;
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return 0;
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}
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int MultiBodyTree::calculatePositionKinematics(const vecx &q)
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{
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if (false == m_is_finalized)
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{
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bt_id_error_message("system has not been initialized\n");
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int MultiBodyTree::calculatePositionKinematics(const vecx& q) {
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if (false == m_is_finalized) {
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error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateKinematics(q, q, q,
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MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY))
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{
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bt_id_error_message("error in kinematics calculation\n");
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MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) {
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error_message("error in kinematics calculation\n");
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return -1;
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}
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return 0;
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}
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int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx &q, const vecx &u)
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{
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if (false == m_is_finalized)
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{
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bt_id_error_message("system has not been initialized\n");
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int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u) {
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if (false == m_is_finalized) {
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error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateKinematics(q, u, u,
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MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY))
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{
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bt_id_error_message("error in kinematics calculation\n");
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MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) {
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error_message("error in kinematics calculation\n");
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return -1;
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}
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return 0;
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}
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#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
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int MultiBodyTree::calculateJacobians(const vecx &q, const vecx &u)
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{
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if (false == m_is_finalized)
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{
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bt_id_error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateJacobians(q, u,
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MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY))
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{
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bt_id_error_message("error in jacobian calculation\n");
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return -1;
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}
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return 0;
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int MultiBodyTree::calculateJacobians(const vecx& q, const vecx& u) {
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if (false == m_is_finalized) {
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error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateJacobians(q, u,
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MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) {
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error_message("error in jacobian calculation\n");
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return -1;
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}
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return 0;
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}
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int MultiBodyTree::calculateJacobians(const vecx &q)
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{
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if (false == m_is_finalized)
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{
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bt_id_error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateJacobians(q, q,
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MultiBodyTree::MultiBodyImpl::POSITION_ONLY))
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{
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bt_id_error_message("error in jacobian calculation\n");
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return -1;
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}
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return 0;
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int MultiBodyTree::calculateJacobians(const vecx& q){
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if (false == m_is_finalized) {
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error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateJacobians(q, q,
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MultiBodyTree::MultiBodyImpl::POSITION_ONLY)) {
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error_message("error in jacobian calculation\n");
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return -1;
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}
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return 0;
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}
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int MultiBodyTree::getBodyDotJacobianTransU(const int body_index, vec3 *world_dot_jac_trans_u) const
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{
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return m_impl->getBodyDotJacobianTransU(body_index, world_dot_jac_trans_u);
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int MultiBodyTree::getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const {
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return m_impl->getBodyDotJacobianTransU(body_index,world_dot_jac_trans_u);
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}
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int MultiBodyTree::getBodyDotJacobianRotU(const int body_index, vec3 *world_dot_jac_rot_u) const
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{
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return m_impl->getBodyDotJacobianRotU(body_index, world_dot_jac_rot_u);
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int MultiBodyTree::getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const {
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return m_impl->getBodyDotJacobianRotU(body_index,world_dot_jac_rot_u);
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}
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int MultiBodyTree::getBodyJacobianTrans(const int body_index, mat3x *world_jac_trans) const
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{
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return m_impl->getBodyJacobianTrans(body_index, world_jac_trans);
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int MultiBodyTree::getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const {
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return m_impl->getBodyJacobianTrans(body_index,world_jac_trans);
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}
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int MultiBodyTree::getBodyJacobianRot(const int body_index, mat3x *world_jac_rot) const
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{
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return m_impl->getBodyJacobianRot(body_index, world_jac_rot);
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int MultiBodyTree::getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const {
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return m_impl->getBodyJacobianRot(body_index,world_jac_rot);
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}
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#endif
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int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_type,
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const vec3 &parent_r_parent_body_ref, const mat33 &body_T_parent_ref,
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const vec3 &body_axis_of_motion_, idScalar mass,
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const vec3 &body_r_body_com, const mat33 &body_I_body,
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const int user_int, void *user_ptr)
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{
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if (body_index < 0)
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{
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bt_id_error_message("body index must be positive (got %d)\n", body_index);
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const int user_int, void *user_ptr) {
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if (body_index < 0) {
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error_message("body index must be positive (got %d)\n", body_index);
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return -1;
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}
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vec3 body_axis_of_motion(body_axis_of_motion_);
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switch (joint_type)
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{
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switch (joint_type) {
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case REVOLUTE:
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case PRISMATIC:
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// check if axis is unit vector
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if (!isUnitVector(body_axis_of_motion))
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{
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bt_id_warning_message(
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if (!isUnitVector(body_axis_of_motion)) {
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warning_message(
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"axis of motion not a unit axis ([%f %f %f]), will use normalized vector\n",
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body_axis_of_motion(0), body_axis_of_motion(1), body_axis_of_motion(2));
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idScalar length = BT_ID_SQRT(BT_ID_POW(body_axis_of_motion(0), 2) +
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BT_ID_POW(body_axis_of_motion(1), 2) +
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BT_ID_POW(body_axis_of_motion(2), 2));
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if (length < BT_ID_SQRT(std::numeric_limits<idScalar>::min()))
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{
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bt_id_error_message("axis of motion vector too short (%e)\n", length);
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BT_ID_POW(body_axis_of_motion(1), 2) +
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BT_ID_POW(body_axis_of_motion(2), 2));
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if (length < BT_ID_SQRT(std::numeric_limits<idScalar>::min())) {
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error_message("axis of motion vector too short (%e)\n", length);
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return -1;
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}
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body_axis_of_motion = (1.0 / length) * body_axis_of_motion;
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@ -281,36 +240,29 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ
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break;
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case FLOATING:
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break;
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case SPHERICAL:
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break;
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default:
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bt_id_error_message("unknown joint type %d\n", joint_type);
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error_message("unknown joint type %d\n", joint_type);
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return -1;
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}
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// sanity check for mass properties. Zero mass is OK.
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if (mass < 0)
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{
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if (mass < 0) {
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m_mass_parameters_are_valid = false;
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bt_id_error_message("Body %d has invalid mass %e\n", body_index, mass);
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if (!m_accept_invalid_mass_parameters)
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{
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error_message("Body %d has invalid mass %e\n", body_index, mass);
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if (!m_accept_invalid_mass_parameters) {
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return -1;
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}
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}
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if (!isValidInertiaMatrix(body_I_body, body_index, FIXED == joint_type))
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{
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if (!isValidInertiaMatrix(body_I_body, body_index, FIXED == joint_type)) {
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m_mass_parameters_are_valid = false;
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// error message printed in function call
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if (!m_accept_invalid_mass_parameters)
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{
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if (!m_accept_invalid_mass_parameters) {
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return -1;
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}
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}
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if (!isValidTransformMatrix(body_T_parent_ref))
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{
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if (!isValidTransformMatrix(body_T_parent_ref)) {
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return -1;
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}
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@ -319,63 +271,52 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ
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body_I_body, user_int, user_ptr);
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}
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int MultiBodyTree::getParentIndex(const int body_index, int *parent_index) const
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{
|
||||
int MultiBodyTree::getParentIndex(const int body_index, int *parent_index) const {
|
||||
return m_impl->getParentIndex(body_index, parent_index);
|
||||
}
|
||||
|
||||
int MultiBodyTree::getUserInt(const int body_index, int *user_int) const
|
||||
{
|
||||
int MultiBodyTree::getUserInt(const int body_index, int *user_int) const {
|
||||
return m_impl->getUserInt(body_index, user_int);
|
||||
}
|
||||
|
||||
int MultiBodyTree::getUserPtr(const int body_index, void **user_ptr) const
|
||||
{
|
||||
int MultiBodyTree::getUserPtr(const int body_index, void **user_ptr) const {
|
||||
return m_impl->getUserPtr(body_index, user_ptr);
|
||||
}
|
||||
|
||||
int MultiBodyTree::setUserInt(const int body_index, const int user_int)
|
||||
{
|
||||
int MultiBodyTree::setUserInt(const int body_index, const int user_int) {
|
||||
return m_impl->setUserInt(body_index, user_int);
|
||||
}
|
||||
|
||||
int MultiBodyTree::setUserPtr(const int body_index, void *const user_ptr)
|
||||
{
|
||||
int MultiBodyTree::setUserPtr(const int body_index, void *const user_ptr) {
|
||||
return m_impl->setUserPtr(body_index, user_ptr);
|
||||
}
|
||||
|
||||
int MultiBodyTree::finalize()
|
||||
{
|
||||
int MultiBodyTree::finalize() {
|
||||
const int &num_bodies = m_init_cache->numBodies();
|
||||
const int &num_dofs = m_init_cache->numDoFs();
|
||||
|
||||
if (num_dofs < 0)
|
||||
{
|
||||
bt_id_error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs);
|
||||
//return -1;
|
||||
}
|
||||
if(num_dofs<=0) {
|
||||
error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs);
|
||||
//return -1;
|
||||
}
|
||||
|
||||
// 1 allocate internal MultiBody structure
|
||||
m_impl = new MultiBodyImpl(num_bodies, num_dofs);
|
||||
|
||||
// 2 build new index set assuring index(parent) < index(child)
|
||||
if (-1 == m_init_cache->buildIndexSets())
|
||||
{
|
||||
if (-1 == m_init_cache->buildIndexSets()) {
|
||||
return -1;
|
||||
}
|
||||
m_init_cache->getParentIndexArray(&m_impl->m_parent_index);
|
||||
|
||||
// 3 setup internal kinematic and dynamic data
|
||||
for (int index = 0; index < num_bodies; index++)
|
||||
{
|
||||
for (int index = 0; index < num_bodies; index++) {
|
||||
InertiaData inertia;
|
||||
JointData joint;
|
||||
if (-1 == m_init_cache->getInertiaData(index, &inertia))
|
||||
{
|
||||
if (-1 == m_init_cache->getInertiaData(index, &inertia)) {
|
||||
return -1;
|
||||
}
|
||||
if (-1 == m_init_cache->getJointData(index, &joint))
|
||||
{
|
||||
if (-1 == m_init_cache->getJointData(index, &joint)) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
|
@ -390,30 +331,9 @@ int MultiBodyTree::finalize()
|
|||
rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
|
||||
rigid_body.m_joint_type = joint.m_type;
|
||||
|
||||
int user_int;
|
||||
if (-1 == m_init_cache->getUserInt(index, &user_int))
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
if (-1 == m_impl->setUserInt(index, user_int))
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
void *user_ptr;
|
||||
if (-1 == m_init_cache->getUserPtr(index, &user_ptr))
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
if (-1 == m_impl->setUserPtr(index, user_ptr))
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Set joint Jacobians. Note that the dimension is always 3x1 here to avoid variable sized
|
||||
// matrices.
|
||||
switch (rigid_body.m_joint_type)
|
||||
{
|
||||
switch (rigid_body.m_joint_type) {
|
||||
case REVOLUTE:
|
||||
rigid_body.m_Jac_JR(0) = joint.m_child_axis_of_motion(0);
|
||||
rigid_body.m_Jac_JR(1) = joint.m_child_axis_of_motion(1);
|
||||
|
|
@ -439,16 +359,6 @@ int MultiBodyTree::finalize()
|
|||
rigid_body.m_Jac_JT(1) = 0.0;
|
||||
rigid_body.m_Jac_JT(2) = 0.0;
|
||||
break;
|
||||
case SPHERICAL:
|
||||
// NOTE/TODO: this is not really correct.
|
||||
// the Jacobians should be 3x3 matrices here !
|
||||
rigid_body.m_Jac_JR(0) = 0.0;
|
||||
rigid_body.m_Jac_JR(1) = 0.0;
|
||||
rigid_body.m_Jac_JR(2) = 0.0;
|
||||
rigid_body.m_Jac_JT(0) = 0.0;
|
||||
rigid_body.m_Jac_JT(1) = 0.0;
|
||||
rigid_body.m_Jac_JT(2) = 0.0;
|
||||
break;
|
||||
case FLOATING:
|
||||
// NOTE/TODO: this is not really correct.
|
||||
// the Jacobians should be 3x3 matrices here !
|
||||
|
|
@ -460,15 +370,14 @@ int MultiBodyTree::finalize()
|
|||
rigid_body.m_Jac_JT(2) = 0.0;
|
||||
break;
|
||||
default:
|
||||
bt_id_error_message("unsupported joint type %d\n", rigid_body.m_joint_type);
|
||||
error_message("unsupported joint type %d\n", rigid_body.m_joint_type);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
// 4 assign degree of freedom indices & build per-joint-type index arrays
|
||||
if (-1 == m_impl->generateIndexSets())
|
||||
{
|
||||
bt_id_error_message("generating index sets\n");
|
||||
if (-1 == m_impl->generateIndexSets()) {
|
||||
error_message("generating index sets\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
|
@ -483,66 +392,54 @@ int MultiBodyTree::finalize()
|
|||
return 0;
|
||||
}
|
||||
|
||||
int MultiBodyTree::setGravityInWorldFrame(const vec3 &gravity)
|
||||
{
|
||||
int MultiBodyTree::setGravityInWorldFrame(const vec3 &gravity) {
|
||||
return m_impl->setGravityInWorldFrame(gravity);
|
||||
}
|
||||
|
||||
int MultiBodyTree::getJointType(const int body_index, JointType *joint_type) const
|
||||
{
|
||||
int MultiBodyTree::getJointType(const int body_index, JointType *joint_type) const {
|
||||
return m_impl->getJointType(body_index, joint_type);
|
||||
}
|
||||
|
||||
int MultiBodyTree::getJointTypeStr(const int body_index, const char **joint_type) const
|
||||
{
|
||||
int MultiBodyTree::getJointTypeStr(const int body_index, const char **joint_type) const {
|
||||
return m_impl->getJointTypeStr(body_index, joint_type);
|
||||
}
|
||||
|
||||
int MultiBodyTree::getDoFOffset(const int body_index, int *q_offset) const
|
||||
{
|
||||
int MultiBodyTree::getDoFOffset(const int body_index, int *q_offset) const {
|
||||
return m_impl->getDoFOffset(body_index, q_offset);
|
||||
}
|
||||
|
||||
int MultiBodyTree::setBodyMass(const int body_index, idScalar mass)
|
||||
{
|
||||
int MultiBodyTree::setBodyMass(const int body_index, idScalar mass) {
|
||||
return m_impl->setBodyMass(body_index, mass);
|
||||
}
|
||||
|
||||
int MultiBodyTree::setBodyFirstMassMoment(const int body_index, const vec3 &first_mass_moment)
|
||||
{
|
||||
int MultiBodyTree::setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment) {
|
||||
return m_impl->setBodyFirstMassMoment(body_index, first_mass_moment);
|
||||
}
|
||||
|
||||
int MultiBodyTree::setBodySecondMassMoment(const int body_index, const mat33 &second_mass_moment)
|
||||
{
|
||||
int MultiBodyTree::setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment) {
|
||||
return m_impl->setBodySecondMassMoment(body_index, second_mass_moment);
|
||||
}
|
||||
|
||||
int MultiBodyTree::getBodyMass(const int body_index, idScalar *mass) const
|
||||
{
|
||||
int MultiBodyTree::getBodyMass(const int body_index, idScalar *mass) const {
|
||||
return m_impl->getBodyMass(body_index, mass);
|
||||
}
|
||||
|
||||
int MultiBodyTree::getBodyFirstMassMoment(const int body_index, vec3 *first_mass_moment) const
|
||||
{
|
||||
int MultiBodyTree::getBodyFirstMassMoment(const int body_index, vec3 *first_mass_moment) const {
|
||||
return m_impl->getBodyFirstMassMoment(body_index, first_mass_moment);
|
||||
}
|
||||
|
||||
int MultiBodyTree::getBodySecondMassMoment(const int body_index, mat33 *second_mass_moment) const
|
||||
{
|
||||
int MultiBodyTree::getBodySecondMassMoment(const int body_index, mat33 *second_mass_moment) const {
|
||||
return m_impl->getBodySecondMassMoment(body_index, second_mass_moment);
|
||||
}
|
||||
|
||||
void MultiBodyTree::clearAllUserForcesAndMoments() { m_impl->clearAllUserForcesAndMoments(); }
|
||||
|
||||
int MultiBodyTree::addUserForce(const int body_index, const vec3 &body_force)
|
||||
{
|
||||
int MultiBodyTree::addUserForce(const int body_index, const vec3 &body_force) {
|
||||
return m_impl->addUserForce(body_index, body_force);
|
||||
}
|
||||
|
||||
int MultiBodyTree::addUserMoment(const int body_index, const vec3 &body_moment)
|
||||
{
|
||||
int MultiBodyTree::addUserMoment(const int body_index, const vec3 &body_moment) {
|
||||
return m_impl->addUserMoment(body_index, body_moment);
|
||||
}
|
||||
|
||||
} // namespace btInverseDynamics
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue