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"
82 lines
2.4 KiB
C++
82 lines
2.4 KiB
C++
#include "RandomTreeCreator.hpp"
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#include <cstdio>
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#include "IDRandomUtil.hpp"
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namespace btInverseDynamics {
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RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed) {
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// seed generator
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if(random_seed) {
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randomInit(); // seeds with time()
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} else {
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randomInit(1); // seeds with 1
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}
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m_num_bodies = randomInt(1, max_bodies);
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}
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RandomTreeCreator::~RandomTreeCreator() {}
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int RandomTreeCreator::getNumBodies(int* num_bodies) const {
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*num_bodies = m_num_bodies;
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return 0;
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}
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int RandomTreeCreator::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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if(0 == body_index) { //root body
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*parent_index = -1;
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} else {
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*parent_index = randomInt(0, body_index - 1);
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}
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switch (randomInt(0, 3)) {
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case 0:
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*joint_type = FIXED;
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break;
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case 1:
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*joint_type = REVOLUTE;
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break;
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case 2:
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*joint_type = PRISMATIC;
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break;
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case 3:
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*joint_type = FLOATING;
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break;
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default:
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bt_id_error_message("randomInt() result out of range\n");
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return -1;
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}
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(*parent_r_parent_body_ref)(0) = randomFloat(-1.0, 1.0);
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(*parent_r_parent_body_ref)(1) = randomFloat(-1.0, 1.0);
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(*parent_r_parent_body_ref)(2) = randomFloat(-1.0, 1.0);
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bodyTParentFromAxisAngle(randomAxis(), randomFloat(-BT_ID_PI, BT_ID_PI), body_T_parent_ref);
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*body_axis_of_motion = randomAxis();
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*mass = randomMass();
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(*body_r_body_com)(0) = randomFloat(-1.0, 1.0);
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(*body_r_body_com)(1) = randomFloat(-1.0, 1.0);
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(*body_r_body_com)(2) = randomFloat(-1.0, 1.0);
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const double a = randomFloat(-BT_ID_PI, BT_ID_PI);
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const double b = randomFloat(-BT_ID_PI, BT_ID_PI);
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const double c = randomFloat(-BT_ID_PI, BT_ID_PI);
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vec3 ii = randomInertiaPrincipal();
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mat33 ii_diag;
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setZero(ii_diag);
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ii_diag(0,0)=ii(0);
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ii_diag(1,1)=ii(1);
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ii_diag(2,2)=ii(2);
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*body_I_body = transformX(a) * transformY(b) * transformZ(c) * ii_diag *
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transformZ(-c) * transformY(-b) * transformX(-a);
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*user_int = 0;
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*user_ptr = 0;
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return 0;
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}
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}
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