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

#ifndef SIMPLETREECREATOR_HPP_
#define SIMPLETREECREATOR_HPP_

#include "MultiBodyTreeCreator.hpp"

namespace btInverseDynamics
{
/// minimal "tree" (chain)
class SimpleTreeCreator : public MultiBodyTreeCreator
{
public:
	/// ctor
	/// @param dim number of bodies
	SimpleTreeCreator(int dim);
	// dtor
	~SimpleTreeCreator() {}
	///\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;
	idScalar m_mass;
	mat33 m_body_T_parent_ref;
	vec3 m_parent_r_parent_body_ref;
	vec3 m_body_r_body_com;
	mat33 m_body_I_body;
	vec3 m_axis;
};
}  // namespace btInverseDynamics
#endif  // SIMPLETREECREATOR_HPP_