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Commit 7b392a4c authored by Rainer Kartmann's avatar Rainer Kartmann
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Refactor body.addGeom,

parent 094339f4
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VirtualRobot/MJCF/elements/types/body.cpp
+ 15
− 8
View file @ 7b392a4c
......@@ -118,6 +118,13 @@ Geom Body::addGeom(const std::string& type)
return geom;
}
Geom Body::addGeom(const std::string& type, const Eigen::Vector3f& size)
{
Geom geom = addGeom(type);
geom.size = size;
return geom;
}
Geom Body::addGeomMesh(const std::string& meshName, const std::string& materialName)
{
Geom geom = addGeom("mesh");
......@@ -134,15 +141,15 @@ Geom Body::addGeomMesh(const std::string& meshName, const std::string& materialN
Body Worldbody::addMocapBody(const std::string& name, float geomSize)
{
Body mocap = addChild<Body>();
mocap.name = name;
Body mocap = addBody(name);
mocap.mocap = true;
// add geom for visualization
Geom geom = mocap.addChild<Geom>();
geom.type = "box";
geom.size = geomSize * Eigen::Vector3f::Ones();
if (geomSize > 0)
{
// Add geom for visualization.
Geom geom = mocap.addGeom("box", Eigen::Vector3f::Constant(geomSize));
}
return mocap;
}
......
VirtualRobot/MJCF/elements/types/body.h
+ 12
− 2
View file @ 7b392a4c
......@@ -109,6 +109,7 @@ struct Geom : public Element<Geom>
mjcf_FloatAttributeDef(Geom, fitscale, 1);
};
struct Site : public Element<Site>
{
static const std::string tag;
......@@ -130,6 +131,7 @@ struct Site : public Element<Site>
mjcf_PoseAttributes(Site);
};
struct Camera : public Element<Camera>
{
static const std::string tag;
......@@ -151,6 +153,7 @@ struct Camera : public Element<Camera>
mjcf_PoseAttributes(Camera);
};
struct Light : public Element<Light>
{
static const std::string tag;
......@@ -179,6 +182,7 @@ struct Light : public Element<Light>
mjcf_Vector3fAttributeDef(Light, specular, Eigen::Vector3f::Constant(0.3f));
};
struct Body : public Element<Body>
{
static const std::string tag;
......@@ -202,8 +206,10 @@ struct Body : public Element<Body>
/// Add a free joint element to a body.
FreeJoint addFreeJoint();
/// Add a geom to a body, referencing a mesh.
/// Add a geom element with the given type.
Geom addGeom(const std::string& type);
/// Add a geom element with type and size.
Geom addGeom(const std::string& type, const Eigen::Vector3f& size);
/// Add a mesh geom with optional material (for texture).
Geom addGeomMesh(const std::string& meshName, const std::string& materialName = "");
......@@ -216,6 +222,7 @@ struct Body : public Element<Body>
mjcf_PoseAttributes(Body);
};
struct Worldbody : public Element<Worldbody>
{
static const std::string tag;
......@@ -224,7 +231,10 @@ struct Worldbody : public Element<Worldbody>
/// Add a body element.
Body addBody(const std::string& name = "", const std::string& childClass = "");
/// Add a mocap body with the given name to the worldbody.
/**
* @brief Add a mocap body with the given name to the worldbody.
* @param geomSize If positive, a box geom is added for visualization and interaction.
*/
Body addMocapBody(const std::string& name, float geomSize);
};
......
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