55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
#include "model_generator.h"
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#include "rbdl/rbdl.h"
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using namespace RigidBodyDynamics;
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using namespace RigidBodyDynamics::Math;
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void generate_planar_tree_recursive (Model *model,
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unsigned int parent_body_id,
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int depth,
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double length) {
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if (depth == 0)
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return;
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// create left child
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Joint joint_rot_z (JointTypeRevolute, Vector3d (0., 0., 1.));
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Body body (length, Vector3d (0., -0.25 * length, 0.), Vector3d (length, length, length));
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Vector3d displacement (-0.5 * length, -0.25 * length, 0.);
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unsigned int child_left = model->AddBody (parent_body_id, Xtrans (displacement), joint_rot_z, body);
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generate_planar_tree_recursive (model,
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child_left,
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depth - 1,
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length * 0.4);
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displacement.set (0.5 * length, -0.25 * length, 0.);
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unsigned int child_right = model->AddBody (parent_body_id, Xtrans (displacement), joint_rot_z, body);
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generate_planar_tree_recursive (model,
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child_right,
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depth - 1,
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length * 0.4);
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}
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void generate_planar_tree (Model *model, int depth) {
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// we first add a single body that is hanging straight down from
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// (0, 0, 0). After that we generate the tree recursively such that each
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// call adds two children.
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//
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double length = 1.;
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Joint joint_rot_z (JointTypeRevolute, Vector3d (0., 0., 1.));
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Body body (length, Vector3d (0., -0.25 * length, 0.), Vector3d (length, length, length));
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unsigned int base_child = model->AddBody (0, Xtrans (Vector3d (0., 0., 0.)), joint_rot_z, body);
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generate_planar_tree_recursive (
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model,
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base_child,
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depth,
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length * 0.4);
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}
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