//==============================================================================
void LineSegmentShapeNode::extractData(bool firstTime)
{
if(mShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_TRANSFORM)
|| firstTime)
setMatrix(eigToOsgMatrix(mShape->getLocalTransform()));
if(nullptr == mGeode)
{
mGeode = new LineSegmentShapeGeode(mLineSegmentShape, mParentEntity);
addChild(mGeode);
return;
}
mGeode->refresh();
}
//==============================================================================
void EllipsoidShapeNode::extractData(bool firstTime)
{
if( mShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_TRANSFORM)
|| mShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_PRIMITIVE)
|| firstTime )
{
Eigen::Matrix4d S(Eigen::Matrix4d::Zero());
const Eigen::Vector3d& s =
mEllipsoidShape->getSize()/smallestComponent(mEllipsoidShape->getSize());
S(0,0) = s[0]; S(1,1) = s[1]; S(2,2) = s[2]; S(3,3) = 1.0;
setMatrix(eigToOsgMatrix(S));
}
if(nullptr == mGeode)
{
mGeode = new EllipsoidShapeGeode(mEllipsoidShape.get(), mParentShapeFrameNode, this);
addChild(mGeode);
return;
}
mGeode->refresh();
}
