diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp
index 41cd623299606278356805e5933c4afc57fc7d4c..a15a8d64e906dd9027cd91ab460992f914b3ac89 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp
@@ -51,15 +51,14 @@ BulletObject::BulletObject(VirtualRobot::SceneObjectPtr o)
if (o->getName() != "Floor")
{
-
- std::vector<VisualizationNode::PrimitivePtr> primitives = colModel->getVisualization()->primitives;
+ std::vector<VisualizationFactory::PrimitivePtr> primitives = colModel->getVisualization()->primitives;
if (primitives.size() == 1)
{
collisionShape.reset(getShapeFromPrimitive(primitives[0]));
}
else if (primitives.size() > 1)
{
- std::vector<VisualizationNode::PrimitivePtr>::iterator it;
+ std::vector<VisualizationFactory::PrimitivePtr>::iterator it;
btCompoundShape *compoundShape = new btCompoundShape();
for (it = primitives.begin(); it != primitives.end(); it++) {
compoundShape->addChildShape(BulletEngine::getPoseBullet((*it)->transform), getShapeFromPrimitive(*it));
@@ -151,18 +150,18 @@ BulletObject::~BulletObject()
}
-btCollisionShape* BulletObject::getShapeFromPrimitive(VirtualRobot::VisualizationNode::PrimitivePtr primitive)
+btCollisionShape* BulletObject::getShapeFromPrimitive(VirtualRobot::VisualizationFactory::PrimitivePtr primitive)
{
btCollisionShape* result;
- if (primitive->type == VisualizationNode::Box::TYPE)
+ if (primitive->type == VisualizationFactory::Box::TYPE)
{
- VisualizationNode::Box* box = boost::dynamic_pointer_cast<VisualizationNode::Box>(primitive).get();
+ VisualizationFactory::Box* box = boost::dynamic_pointer_cast<VisualizationFactory::Box>(primitive).get();
btBoxShape *boxShape = new btBoxShape(btVector3(box->width / 1000.f, box->height / 1000.f, box->depth / 1000.f));
result = boxShape;
}
- else if (primitive->type == VisualizationNode::Sphere::TYPE)
+ else if (primitive->type == VisualizationFactory::Sphere::TYPE)
{
- VisualizationNode::Sphere* sphere = boost::dynamic_pointer_cast<VisualizationNode::Sphere>(primitive).get();
+ VisualizationFactory::Sphere* sphere = boost::dynamic_pointer_cast<VisualizationFactory::Sphere>(primitive).get();
btSphereShape *sphereShape = new btSphereShape(btScalar(sphere->radius / 1000.f));
result = sphereShape;
}
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.h b/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.h
index 79a70048c652f6c3ca527b8c7564f61892f13056..972cdab553be244d0f1934fd64ef3aee46fd6873 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.h
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.h
@@ -84,7 +84,7 @@ public:
protected:
void setPoseIntern(const Eigen::Matrix4f &pose);
- btCollisionShape* getShapeFromPrimitive(VirtualRobot::VisualizationNode::PrimitivePtr primitive);
+ btCollisionShape* getShapeFromPrimitive(VirtualRobot::VisualizationFactory::PrimitivePtr primitive);
btConvexHullShape* createConvexHullShape(VirtualRobot::TriMeshModelPtr trimesh);
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
index db98a6c24178cc407e6ffea1d251f5ce726c16e5..b423324baa7197c81acdcc2d5ee59015b668d292 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
@@ -68,6 +68,77 @@ namespace VirtualRobot {
{
}
+ /**
+ * This method creates a VirtualRobot::CoinVisualizationNode from a given vector of \p primitives.
+ * An instance of VirtualRobot::VisualizationNode is returned in case of an occured error.
+ *
+ * \param primitives vector of primitives to create the visualization from.
+ * \param boundingBox Use bounding box instead of full model.
+ * \return instance of VirtualRobot::CoinVisualizationNode upon success and VirtualRobot::VisualizationNode on error.
+ */
+ VisualizationNodePtr CoinVisualizationFactory::getVisualizationFromPrimitives(std::vector<PrimitivePtr> primitives, bool boundingBox)
+ {
+ VisualizationNodePtr visualizationNode = VisualizationNodePtr(new VisualizationNode());
+ SoSeparator *coinVisualization = new SoSeparator();
+ coinVisualization->ref();
+
+ Eigen::Matrix4f currentTransform = Eigen::Matrix4f::Identity();
+ for (std::vector<PrimitivePtr>::iterator it = primitives.begin(); it != primitives.end(); it++)
+ {
+ PrimitivePtr p = *it;
+ currentTransform *= p->transform;
+ SoSeparator *soSep = new SoSeparator();
+ SoNode *pNode = GetNodeFromPrimitive(p, boundingBox);
+ soSep->addChild(getMatrixTransformScaleMM2M(currentTransform));
+ soSep->addChild(pNode);
+ coinVisualization->addChild(soSep);
+ }
+
+ if (boundingBox)
+ {
+ SoSeparator* bboxVisu = CreateBoundingBox(coinVisualization, false);
+ bboxVisu->ref();
+ coinVisualization->unref();
+ coinVisualization = bboxVisu;
+ }
+
+ // create new CoinVisualizationNode if no error occurred
+ visualizationNode.reset(new CoinVisualizationNode(coinVisualization));
+
+ coinVisualization->unref();
+
+ return visualizationNode;
+ }
+
+ SoNode* CoinVisualizationFactory::GetNodeFromPrimitive(PrimitivePtr primitive, bool boundingBox)
+ {
+ SoNode *coinVisualization;
+ if (primitive->type == Box::TYPE)
+ {
+ Box *box = boost::dynamic_pointer_cast<Box>(primitive).get();
+ SoCube *soBox = new SoCube;
+ soBox->width = box->width / 1000.f;
+ soBox->height = box->height / 1000.f;
+ soBox->depth = box->depth / 1000.f;
+ coinVisualization = soBox;
+ } else if (primitive->type == Sphere::TYPE)
+ {
+ Sphere *sphere = boost::dynamic_pointer_cast<Sphere>(primitive).get();
+ SoSphere *soSphere = new SoSphere;
+ soSphere->radius = sphere->radius / 1000.f;
+ coinVisualization = soSphere;
+ }
+
+ if (boundingBox && coinVisualization)
+ {
+ SoSeparator* bboxVisu = CreateBoundingBox(coinVisualization, false);
+ bboxVisu->ref();
+ coinVisualization->unref();
+ coinVisualization = bboxVisu;
+ }
+
+ return coinVisualization;
+ }
/**
* This method creates a VirtualRobot::CoinVisualizationNode from a given \p filename.
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
index 0dc8f0a5266242c7c352ac05166af81eaf0d73bf..5ccefbc82f352214c33b89b28e7e1c708107e938 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
@@ -59,10 +59,11 @@ public:
CoinVisualizationFactory();
virtual ~CoinVisualizationFactory();
+ virtual VisualizationNodePtr getVisualizationFromPrimitives(std::vector<PrimitivePtr> primitives, bool boundingBox = false);
virtual VisualizationNodePtr getVisualizationFromFile(const std::string& filename, bool boundingBox = false);
virtual VisualizationNodePtr getVisualizationFromFile(const std::ifstream& ifs, bool boundingBox = false);
virtual VisualizationNodePtr getVisualizationFromString(const std::string& modelString, bool boundingBox = false);
- virtual VisualizationNodePtr createBox(float width, float height, float depth, float colorR, float colorG, float colorB);
+ virtual VisualizationNodePtr createBox(float width, float height, float depth, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f);
virtual VisualizationNodePtr createLine(const Eigen::Vector3f &from, const Eigen::Vector3f &to, float width = 1.0f, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f);
virtual VisualizationNodePtr createLine(const Eigen::Matrix4f &from, const Eigen::Matrix4f &to, float width = 1.0f, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f);
virtual VisualizationNodePtr createSphere(float radius, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f);
@@ -299,6 +300,7 @@ public:
*/
virtual void cleanup();
protected:
+ static SoNode* GetNodeFromPrimitive(PrimitivePtr primitive, bool boundingBox);
static void GetVisualizationFromSoInput(SoInput& soInput, VisualizationNodePtr& visualizationNode, bool bbox = false);
static inline char IVToolsHelper_ReplaceSpaceWithUnderscore(char input) { if ( ' ' == input ) return '_'; else return input; }
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.cpp
index 4e93095f217c58d05d3afa6962190bbb385b8e04..a1b619bc6826519abae30c6d570d4e5e2c790547 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.cpp
@@ -6,6 +6,7 @@
#include "CoinVisualizationNode.h"
#include "CoinVisualizationFactory.h"
+#include "../../MathTools.h"
#include "../TriMeshModel.h"
#include "../../VirtualRobotException.h"
#include "../../XML/BaseIO.h"
@@ -22,6 +23,7 @@
#include <Inventor/actions/SoWriteAction.h>
#include <boost/filesystem.hpp>
+#include <boost/foreach.hpp>
namespace VirtualRobot {
@@ -131,15 +133,91 @@ TriMeshModelPtr CoinVisualizationNode::getTriMeshModel()
*/
void CoinVisualizationNode::createTriMeshModel()
{
- THROW_VR_EXCEPTION_IF(!visualization, "CoinVisualizationNode::createTriMeshModel(): no Coin model present!");
+ THROW_VR_EXCEPTION_IF(!visualization, "CoinVisualizationNode::createTriMeshModel(): no Coin model present!");
if (triMeshModel)
triMeshModel->clear();
else
triMeshModel.reset(new TriMeshModel());
- SoCallbackAction ca;
- ca.addTriangleCallback(SoShape::getClassTypeId(), &CoinVisualizationNode::InventorTriangleCB, triMeshModel.get());
- ca.apply(visualization);
+
+// if (primitives.size() != 0 && !visualization)
+// {
+// std::vector<PrimitivePtr>::iterator it;
+// Eigen::Matrix4f currentTransform = Eigen::Matrix4f::Identity();
+// SoNode* newVis = new SoSeparator;
+// newVis->ref();
+// for (it = primitives.begin(); it != primitives.end(); it++) {
+// PrimitivePtr p = *it;
+// VisualizationNodePtr visNode;
+// CoinVisualizationFactory vf;
+
+// if (p->type == Box::TYPE)
+// {
+// Box* box = boost::dynamic_pointer_cast<Box>(p).get();
+// visNode = vf.createBox(box->width, box->height, box->depth);
+//// triMesh = visNode->getTriMeshModel();
+// } else if (p->type == Sphere::TYPE)
+// {
+// Sphere* sphere = boost::dynamic_pointer_cast<Sphere>(p).get();
+// visNode = vf.createSphere(sphere->radius);
+//// triMesh = visNode->getTriMeshModel();
+// } else
+// {
+// VR_ERROR << "Unknown primitive" << std::endl;
+// }
+
+// if (visNode)
+// newVis->addChild(vf.getCoinVisualization(visNode));
+// }
+// visualization = newVis;
+// std::vector<PrimitivePtr>::iterator it;
+// Eigen::Matrix4f currentTransform = Eigen::Matrix4f::Identity();
+// for (it = primitives.begin(); it != primitives.end(); it++) {
+// PrimitivePtr p = *it;
+// currentTransform *= p->transform;
+// VisualizationNodePtr visNode;
+// TriMeshModelPtr triMesh;
+
+// CoinVisualizationFactory vf;
+// if (p->type == Box::TYPE)
+// {
+// Box* box = boost::dynamic_pointer_cast<Box>(p).get();
+// visNode = vf.createBox(box->width, box->height, box->depth);
+// triMesh = visNode->getTriMeshModel();
+// } else if (p->type == Sphere::TYPE)
+// {
+// Sphere* sphere = boost::dynamic_pointer_cast<Sphere>(p).get();
+// visNode = vf.createSphere(sphere->radius);
+// triMesh = visNode->getTriMeshModel();
+// }
+
+// if (visNode)
+// {
+// std::vector<MathTools::TriangleFace> faces = triMesh->faces;
+// std::vector<Eigen::Vector3f> vertices = triMesh->vertices;
+
+// for (std::vector<Eigen::Vector3f>::iterator it = vertices.begin(); it != vertices.end(); it++)
+// {
+// Eigen::Vector4f v;
+// v << (*it).x(), (*it).y(), (*it).z(), 1.f;
+// v = currentTransform * v;
+// (*it) = v.head(3);
+// }
+
+// for (std::vector<MathTools::TriangleFace>::iterator it = faces.begin(); it != faces.end(); it++)
+// {
+// triMeshModel->addTriangleWithFace(vertices[it->id1], vertices[it->id2], vertices[it->id3]);
+// }
+// }
+// }
+// }
+
+// if (visualization)
+// {
+ SoCallbackAction ca;
+ ca.addTriangleCallback(SoShape::getClassTypeId(), &CoinVisualizationNode::InventorTriangleCB, triMeshModel.get());
+ ca.apply(visualization);
+// }
}
@@ -300,6 +378,7 @@ VirtualRobot::VisualizationNodePtr CoinVisualizationNode::clone(bool deepCopy, f
p->attachVisualization(i->first, attachedClone);
i++;
}
+ p->primitives = primitives;
return p;
}
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.h b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.h
index c23984fe0b7d6b0443fd2239d8d119ebcbc15b1e..faddb9acd39603c5b8377d748978f0f189926851 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.h
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.h
@@ -44,7 +44,7 @@ class VIRTUAL_ROBOT_IMPORT_EXPORT CoinVisualizationNode : virtual public Visuali
{
friend class CoinVisualizationFactory;
public:
- CoinVisualizationNode(SoNode* visualizationNode);
+ CoinVisualizationNode(SoNode* visualizationNode);
~CoinVisualizationNode();
virtual TriMeshModelPtr getTriMeshModel();
diff --git a/VirtualRobot/Visualization/VisualizationFactory.h b/VirtualRobot/Visualization/VisualizationFactory.h
index 4835a5ac7de20894d4bf739e2e708d165a820a9a..909dfbfda1f2614a27905ea6b51c6fd211bf8e83 100644
--- a/VirtualRobot/Visualization/VisualizationFactory.h
+++ b/VirtualRobot/Visualization/VisualizationFactory.h
@@ -57,7 +57,7 @@ public:
struct PhongMaterial
{
- PhongMaterial(){};
+ PhongMaterial(){}
Color emission;
Color ambient;
Color diffuse;
@@ -70,15 +70,42 @@ public:
float refractionIndex;
};
+ struct Primitive {
+ static const int TYPE = 0;
+ Primitive() : type(TYPE), transform(Eigen::Matrix4f::Identity()) {}
+ virtual ~Primitive() {} //needed for dynamic cast to work
+ Eigen::Matrix4f transform;
+ const int type;
+ protected:
+ Primitive(int type) : type(type) {}
+ };
+
+ struct Box : public Primitive {
+ static const int TYPE = 1;
+ Box() : Primitive(TYPE) {}
+ float width;
+ float height;
+ float depth;
+ };
+
+ struct Sphere : public Primitive {
+ static const int TYPE = 2;
+ Sphere() : Primitive(TYPE) {}
+ float radius;
+ };
+
+ typedef boost::shared_ptr<Primitive> PrimitivePtr;
+
VisualizationFactory() {;}
virtual ~VisualizationFactory() {;}
+ virtual VisualizationNodePtr getVisualizationFromPrimitives(std::vector<PrimitivePtr> primitives, bool boundingBox = false){return VisualizationNodePtr();}
virtual VisualizationNodePtr getVisualizationFromFile(const std::string& filename, bool boundingBox = false){return VisualizationNodePtr();}
virtual VisualizationNodePtr getVisualizationFromFile(const std::ifstream& ifs, bool boundingBox = false){return VisualizationNodePtr();};
/*!
A box, dimensions are given in mm.
*/
- virtual VisualizationNodePtr createBox(float length, float height, float width, float colorR, float colorG, float colorB){return VisualizationNodePtr();}
+ virtual VisualizationNodePtr createBox(float width, float height, float depth, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f){return VisualizationNodePtr();}
virtual VisualizationNodePtr createLine(const Eigen::Vector3f &from, const Eigen::Vector3f &to, float width = 1.0f, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f){return VisualizationNodePtr();}
virtual VisualizationNodePtr createLine(const Eigen::Matrix4f &from, const Eigen::Matrix4f &to, float width = 1.0f, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f){return VisualizationNodePtr();}
virtual VisualizationNodePtr createSphere(float radius, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f){return VisualizationNodePtr();}
diff --git a/VirtualRobot/Visualization/VisualizationNode.h b/VirtualRobot/Visualization/VisualizationNode.h
index 5bd62722c5670eb0f60ac1cd04c81ce8bf551d33..7fb5ec71484dbf9d769ae7d5385d972cf4db75fc 100644
--- a/VirtualRobot/Visualization/VisualizationNode.h
+++ b/VirtualRobot/Visualization/VisualizationNode.h
@@ -39,33 +39,7 @@ class VIRTUAL_ROBOT_IMPORT_EXPORT VisualizationNode
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
- struct Primitive {
- static const int TYPE = 0;
- Primitive() : type(TYPE), transform(Eigen::Matrix4f::Identity()) {}
- virtual ~Primitive() {} //needed for dynamic cast to work
- Eigen::Matrix4f transform;
- const int type;
- protected:
- Primitive(int type) : type(type) {}
- };
-
- struct Box : public Primitive {
- static const int TYPE = 1;
- Box() : Primitive(TYPE) {}
- float width;
- float height;
- float depth;
- };
-
- struct Sphere : public Primitive {
- static const int TYPE = 2;
- Sphere() : Primitive(TYPE) {}
- float radius;
- };
-
- typedef boost::shared_ptr<Primitive> PrimitivePtr;
-
- std::vector<PrimitivePtr> primitives;
+ std::vector<VisualizationFactory::PrimitivePtr> primitives;
/*!
Constructor
diff --git a/VirtualRobot/XML/BaseIO.cpp b/VirtualRobot/XML/BaseIO.cpp
index 37025ac1802f61b09e1aa1159404de2b5ba0a8a0..937d19edb9cf02d5c8f6cca89b69d45a65c44467 100644
--- a/VirtualRobot/XML/BaseIO.cpp
+++ b/VirtualRobot/XML/BaseIO.cpp
@@ -712,7 +712,7 @@ VisualizationNodePtr BaseIO::processVisualizationTag(rapidxml::xml_node<char> *v
std::string visuFileType = "";
std::string visuFile = "";
rapidxml::xml_attribute<> *attr;
- std::vector<VisualizationNode::PrimitivePtr> primitives;
+ std::vector<VisualizationFactory::PrimitivePtr> primitives;
VisualizationNodePtr visualizationNode;
if (!visuXMLNode)
@@ -741,7 +741,7 @@ VisualizationNodePtr BaseIO::processVisualizationTag(rapidxml::xml_node<char> *v
if (VisualizationFactory::first(NULL))
visuFileType = VisualizationFactory::first(NULL)->getDescription();
else
- VR_WARNING << "No visualization present..." << endl;
+ VR_WARNING << "No visualization present..." << endl;
} else
visuFileType = attr->value();
@@ -754,13 +754,14 @@ VisualizationNodePtr BaseIO::processVisualizationTag(rapidxml::xml_node<char> *v
rapidxml::xml_node<> *visuPrimitivesXMLNode = visuXMLNode->first_node("primitives",0,false);
if (visuPrimitivesXMLNode)
{
+ THROW_VR_EXCEPTION_IF(visuFileXMLNode, "Multiple visualization sources defined (file and primitives)" << endl)
rapidxml::xml_node<> *primitiveXMLNode = visuPrimitivesXMLNode->first_node();
while (primitiveXMLNode)
{
//extract info
std::string pName = primitiveXMLNode->name();
- VisualizationNode::PrimitivePtr primitive;
+ VisualizationFactory::PrimitivePtr primitive;
float lenFactor = 1.f;
if (hasUnitsAttribute(primitiveXMLNode))
@@ -774,14 +775,14 @@ VisualizationNodePtr BaseIO::processVisualizationTag(rapidxml::xml_node<char> *v
if (pName == "Box")
{
- VisualizationNode::Box *box = new VisualizationNode::Box;
+ VisualizationFactory::Box *box = new VisualizationFactory::Box;
box->width = convertToFloat(primitiveXMLNode->first_attribute("width",0,false)->value()) * lenFactor;
box->height = convertToFloat(primitiveXMLNode->first_attribute("height",0,false)->value()) * lenFactor;
box->depth = convertToFloat(primitiveXMLNode->first_attribute("depth",0,false)->value()) * lenFactor;
primitive.reset(box);
} else if (pName == "Sphere")
{
- VisualizationNode::Sphere *sphere = new VisualizationNode::Sphere;
+ VisualizationFactory::Sphere *sphere = new VisualizationFactory::Sphere;
sphere->radius = convertToFloat(primitiveXMLNode->first_attribute("radius",0,false)->value()) * lenFactor;
primitive.reset(sphere);
} else
@@ -807,9 +808,13 @@ VisualizationNodePtr BaseIO::processVisualizationTag(rapidxml::xml_node<char> *v
if (visualizationFactory)
{
visualizationNode = visualizationFactory->getVisualizationFromFile(visuFile);
- visualizationNode->primitives = primitives;
} else
VR_WARNING << "VisualizationFactory of type '" << visuFileType << "' not present. Ignoring Visualization data in Node <" << tagName << ">" << endl;
+ } else if (primitives.size() != 0)
+ {
+ VisualizationFactoryPtr visualizationFactory = VisualizationFactory::first(NULL);
+ visualizationNode = visualizationFactory->getVisualizationFromPrimitives(primitives);
+ visualizationNode->primitives = primitives;
}
diff --git a/VirtualRobot/data/objects/PrimitivesExample.xml b/VirtualRobot/data/objects/PrimitivesExample.xml
index a30b44492564b6ac24ca384d73117a752856befb..aa94cecf51234a2cee57d1fafa522d5eb767df48 100644
--- a/VirtualRobot/data/objects/PrimitivesExample.xml
+++ b/VirtualRobot/data/objects/PrimitivesExample.xml
@@ -1,15 +1,22 @@
<ManipulationObject name='Vitalis'>
<Visualization>
+ <!-- only file OR primitives is allowed -->
<Primitives>
<Box width="136" height="190" depth="40"/> <!-- primitive-specific parameters, default unit is mm -->
- <Sphere radius="0.2" unitslength="m">
+ <Sphere radius="0.15" unitslength="m">
<Transform> <!-- transform is relative to previous primitive -->
- <Translation x="0" y="20" z="0"/>
+ <Translation x="0" y="170" z="0"/>
</Transform>
</Sphere>
+ <Box width="136" height="190" depth="40">
+ <Transform> <!-- transform is relative to previous primitive -->
+ <Translation x="0" y="-355" z="0"/>
+ <rpy roll="0" pitch="1.41" yaw="0" unitsAngle="radian"/>
+ </Transform>
+ </Box>
<!-- other primitives -->
</Primitives>
- <File type='inventor'>iv/vitalis.iv</File>
+ <!--File type='inventor'>iv/vitalis.iv</File-->
<UseAsCollisionModel/>
</Visualization>
</ManipulationObject>
diff --git a/VirtualRobot/data/objects/VitalisWithPrimitives.xml b/VirtualRobot/data/objects/VitalisWithPrimitives.xml
index 4a816cf3b0d81ca4db34dd4677e46a6b951c4b76..a240b945bd37e307b7245fea47593862e82b6b14 100644
--- a/VirtualRobot/data/objects/VitalisWithPrimitives.xml
+++ b/VirtualRobot/data/objects/VitalisWithPrimitives.xml
@@ -3,7 +3,7 @@
<Primitives>
<Box width="136" height="190" depth="40"/>
</Primitives>
- <File type='inventor'>iv/vitalis.iv</File>
+ <!--File type='inventor'>iv/vitalis.iv</File-->
<UseAsCollisionModel/>
</Visualization>
</ManipulationObject>