SkeletonPtr constructLinkageTestSkeleton()
{
SkeletonPtr skel = Skeleton::create();
BodyNode* bn = skel->createJointAndBodyNodePair<RevoluteJoint>().second;
bn->setName("c1b1");
bn = addBodyNode<FreeJoint>(bn, "c1b2");
BodyNode* c1b3 = addBodyNode(bn, "c1b3");
bn = addBodyNode(c1b3, "c2b1");
bn = addBodyNode(bn, "c2b2");
addBodyNode(bn, "c2b3");
bn = addBodyNode(c1b3, "c3b1");
bn = addBodyNode(bn, "c3b2");
BodyNode* c3b3 = addBodyNode(bn, "c3b3");
bn = addBodyNode(c3b3, "c4b1");
bn = addBodyNode(bn, "c4b2");
addBodyNode(bn, "c4b3");
addBodyNode(c3b3, "c3b4");
bn = addBodyNode(c1b3, "c5b1");
addBodyNode(bn, "c5b2");
return skel;
}
BodyNode* addBodyNode(BodyNode* bn, const std::string& name)
{
BodyNode* result = bn->createChildJointAndBodyNodePair<JointType>().second;
result->setName(name);
return result;
}