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