anki-3d-engine/ThirdParty/Bullet/Extras/InverseDynamics/CloneTreeCreator.hpp

#ifndef CLONETREE_CREATOR_HPP_
#define CLONETREE_CREATOR_HPP_

#include "BulletInverseDynamics/IDConfig.hpp"
#include "MultiBodyTreeCreator.hpp"

namespace btInverseDynamics
{
/// Generate an identical multibody tree from a reference system.
class CloneTreeCreator : public MultiBodyTreeCreator
{
public:
	/// ctor
	/// @param reference the MultiBodyTree to clone
	CloneTreeCreator(const MultiBodyTree* reference);
	~CloneTreeCreator();
	///\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:
	const MultiBodyTree* m_reference;
};
}  // namespace btInverseDynamics
#endif  // CLONETREE_CREATOR_HPP_