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29 lines
958 B
C++
29 lines
958 B
C++
#ifndef CLONETREE_CREATOR_HPP_
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#define CLONETREE_CREATOR_HPP_
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#include "BulletInverseDynamics/IDConfig.hpp"
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#include "MultiBodyTreeCreator.hpp"
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namespace btInverseDynamics
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{
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/// Generate an identical multibody tree from a reference system.
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class CloneTreeCreator : public MultiBodyTreeCreator
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{
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public:
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/// ctor
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/// @param reference the MultiBodyTree to clone
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CloneTreeCreator(const MultiBodyTree* reference);
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~CloneTreeCreator();
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///\copydoc MultiBodyTreeCreator::getNumBodies
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int getNumBodies(int* num_bodies) const;
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///\copydoc MultiBodyTreeCreator::getBody
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int getBody(const int body_index, int* parent_index, JointType* joint_type,
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vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
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idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
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void** user_ptr) const;
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private:
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const MultiBodyTree* m_reference;
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};
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} // namespace btInverseDynamics
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#endif // CLONETREE_CREATOR_HPP_
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