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"
65 lines
1.9 KiB
C++
65 lines
1.9 KiB
C++
#include "MultiBodyTreeCreator.hpp"
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namespace btInverseDynamics {
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MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
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int num_bodies;
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int parent_index;
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JointType joint_type;
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vec3 body_r_parent_body_ref;
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mat33 body_R_parent_ref;
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vec3 body_axis_of_motion;
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idScalar mass;
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vec3 body_r_body_com;
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mat33 body_I_body;
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int user_int;
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void* user_ptr;
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MultiBodyTree* tree = new MultiBodyTree();
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if (0x0 == tree) {
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bt_id_error_message("cannot allocate tree\n");
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return 0x0;
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}
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// TODO: move to some policy argument
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tree->setAcceptInvalidMassParameters(false);
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// get number of bodies in the system
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if (-1 == creator.getNumBodies(&num_bodies)) {
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bt_id_error_message("getting body indices\n");
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delete tree;
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return 0x0;
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}
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// get data for all bodies
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for (int index = 0; index < num_bodies; index++) {
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// get body parameters from user callbacks
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if (-1 ==
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creator.getBody(index, &parent_index, &joint_type, &body_r_parent_body_ref,
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&body_R_parent_ref, &body_axis_of_motion, &mass, &body_r_body_com,
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&body_I_body, &user_int, &user_ptr)) {
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bt_id_error_message("getting data for body %d\n", index);
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delete tree;
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return 0x0;
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}
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// add body to system
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if (-1 ==
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tree->addBody(index, parent_index, joint_type, body_r_parent_body_ref,
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body_R_parent_ref, body_axis_of_motion, mass, body_r_body_com,
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body_I_body, user_int, user_ptr)) {
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bt_id_error_message("adding body %d\n", index);
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delete tree;
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return 0x0;
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}
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}
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// finalize initialization
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if (-1 == tree->finalize()) {
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bt_id_error_message("building system\n");
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delete tree;
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return 0x0;
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}
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return tree;
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}
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}
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