* Adjustment: Initial CMake reworking.

Engine/lib/bullet/Extras/InverseDynamics/RandomTreeCreator.hpp

@@ -0,0 +1,31 @@
+#ifndef RANDOMTREE_CREATOR_HPP_
+#define RANDOMTREE_CREATOR_HPP_
+
+#include "BulletInverseDynamics/IDConfig.hpp"
+#include "MultiBodyTreeCreator.hpp"
+
+namespace btInverseDynamics {
+/// Generate a random MultiBodyTree with fixed or floating base and fixed, prismatic or revolute
+/// joints
+/// Uses a pseudo random number generator seeded from a random device.
+class RandomTreeCreator : public MultiBodyTreeCreator {
+public:
+    /// ctor
+    /// @param max_bodies maximum number of bodies
+    /// @param gravity gravitational acceleration
+    /// @param use_seed if true, seed random number generator
+    RandomTreeCreator(const int max_bodies, bool use_seed=false);
+    ~RandomTreeCreator();
+    ///\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:
+    int m_num_bodies;
+};
+}
+#endif  // RANDOMTREE_CREATOR_HPP_