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#ifndef BTMULTIBODYTREECREATOR_HPP_
#define BTMULTIBODYTREECREATOR_HPP_
#include <vector>
#include "BulletInverseDynamics/IDConfig.hpp"
#include "MultiBodyTreeCreator.hpp"
#include "BulletDynamics/Featherstone/btMultiBody.h"
namespace btInverseDynamics
{
/// MultiBodyTreeCreator implementation for converting
/// a btMultiBody forward dynamics model into a MultiBodyTree inverse dynamics model
class btMultiBodyTreeCreator : public MultiBodyTreeCreator
{
public:
/// ctor
btMultiBodyTreeCreator();
/// dtor
~btMultiBodyTreeCreator() {}
/// extract model data from a btMultiBody
/// @param btmb pointer to btMultiBody to convert
/// @param verbose if true, some information is printed
/// @return -1 on error, 0 on success
int createFromBtMultiBody(const btMultiBody *btmb, const bool verbose = false);
/// \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:
// internal struct holding data extracted from btMultiBody
struct LinkData
{
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;
};
idArray<LinkData>::type m_data;
bool m_initialized;
};
} // namespace btInverseDynamics
#endif // BTMULTIBODYTREECREATOR_HPP_
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