3f03b41091
error_message and warning_message are common strings that are likely to
collide. Renamed to bt_id_{error,warning}_message to more strongly
uniquify.
grep -r error_message -l src/BulletInverseDynamics | \
xargs sed -i -e "s/error_message/bt_id_error_message/g"
grep -r warning_message -l src/BulletInverseDynamics | \
xargs sed -i -e "s/warning_message/bt_id_warning_message/g"
50 lines
2.6 KiB
C++
50 lines
2.6 KiB
C++
#include "CloneTreeCreator.hpp"
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#include <cstdio>
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namespace btInverseDynamics {
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#define CHECK_NULLPTR() \
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do { \
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if (m_reference == 0x0) { \
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bt_id_error_message("m_reference == 0x0\n"); \
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return -1; \
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} \
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} while (0)
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#define TRY(x) \
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do { \
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if (x == -1) { \
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bt_id_error_message("error calling " #x "\n"); \
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return -1; \
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} \
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} while (0)
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CloneTreeCreator::CloneTreeCreator(const MultiBodyTree* reference) { m_reference = reference; }
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CloneTreeCreator::~CloneTreeCreator() {}
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int CloneTreeCreator::getNumBodies(int* num_bodies) const {
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CHECK_NULLPTR();
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*num_bodies = m_reference->numBodies();
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return 0;
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}
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int CloneTreeCreator::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,
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vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
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mat33* body_I_body, int* user_int, void** user_ptr) const {
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CHECK_NULLPTR();
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TRY(m_reference->getParentIndex(body_index, parent_index));
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TRY(m_reference->getJointType(body_index, joint_type));
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TRY(m_reference->getParentRParentBodyRef(body_index, parent_r_parent_body_ref));
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TRY(m_reference->getBodyTParentRef(body_index, body_T_parent_ref));
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TRY(m_reference->getBodyAxisOfMotion(body_index, body_axis_of_motion));
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TRY(m_reference->getBodyMass(body_index, mass));
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TRY(m_reference->getBodyFirstMassMoment(body_index, body_r_body_com));
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TRY(m_reference->getBodySecondMassMoment(body_index, body_I_body));
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TRY(m_reference->getUserInt(body_index, user_int));
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TRY(m_reference->getUserPtr(body_index, user_ptr));
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return 0;
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}
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}
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