Method cloneBodyNodeTree

dart/dynamics/Skeleton.cpp:2568–2611

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//==============================================================================
std::pair<Joint*, BodyNode*> Skeleton::cloneBodyNodeTree(
    Joint* _parentJoint,
    const BodyNode* _bodyNode,
    const SkeletonPtr& _newSkeleton,
    BodyNode* _parentNode,
    bool _recursive) const
{
  std::pair<Joint*, BodyNode*> root(nullptr, nullptr);
  std::vector<const BodyNode*> tree;
  if (_recursive)
    tree = constructBodyNodeTree(_bodyNode);
  else
    tree.push_back(_bodyNode);

  std::map<std::string, BodyNode*> nameMap;
  std::vector<BodyNode*> clones;
  clones.reserve(tree.size());

  for (std::size_t i = 0; i < tree.size(); ++i) {
    const BodyNode* original = tree[i];
    // If this is the root of the tree, and the user has requested a change in
    // its parent Joint, use the specified parent Joint instead of created a
    // clone
    Joint* joint = (i == 0 && _parentJoint != nullptr)
                       ? _parentJoint
                       : original->getParentJoint()->clone();

    BodyNode* newParent
        = i == 0 ? _parentNode
                 : nameMap[original->getParentBodyNode()->getName()];

    BodyNode* clone = original->clone(newParent, joint, true);
    clones.push_back(clone);
    nameMap[clone->getName()] = clone;

    if (0 == i) {
      root.first = joint;
      root.second = clone;
    }
  }

  _newSkeleton->receiveBodyNodeTree(clones);
  return root;
}

//==============================================================================
template <typename BodyNodeT>