void Constraint::SphereOnSphereContactImpl::
calcDecorativeGeometryAndAppendVirtual
(const State& s, Stage stage, Array_<DecorativeGeometry>& geom) const
{
// We can't generate the artwork until we know the spheres' centers and
// radii, which might not be until Position stage.
if ( stage == Stage::Position
&& getMyMatterSubsystemRep().getShowDefaultGeometry())
{
const SimbodyMatterSubsystemRep& matterRep = getMyMatterSubsystemRep();
const Parameters& params = getParameters(s);
const Vec3& p_FSf = params.m_p_FSf;
const Real rf = params.m_radius_F;
const Vec3& p_BSb = params.m_p_BSb;
const Real rb = params.m_radius_B;
const MobilizedBodyIndex mobodFIx =
getMobilizedBodyIndexOfConstrainedBody(m_mobod_F);
const MobilizedBodyIndex mobodBIx =
getMobilizedBodyIndexOfConstrainedBody(m_mobod_B);
// On body F draw a green mesh sphere.
geom.push_back(DecorativeSphere(rf)
.setColor(Green)
.setRepresentation(DecorativeGeometry::DrawWireframe)
.setBodyId(mobodFIx)
.setTransform(p_FSf));
// On the ball body draw an orange mesh sphere.
geom.push_back(DecorativeSphere(rb)
.setColor(Orange)
.setRepresentation(DecorativeGeometry::DrawWireframe)
.setBodyId(mobodBIx)
.setTransform(p_BSb));
}
}
void Constraint::SphereOnPlaneContactImpl::
calcDecorativeGeometryAndAppendVirtual
(const State& s, Stage stage, Array_<DecorativeGeometry>& geom) const
{
// We can't generate the artwork until we know the plane frame and the
// sphere center and radius, which might not be until Position stage.
if ( stage == Stage::Position
&& getMyMatterSubsystemRep().getShowDefaultGeometry())
{
const SimbodyMatterSubsystemRep& matterRep = getMyMatterSubsystemRep();
const Parameters& params = getParameters(s);
const Transform& X_FP = params.m_X_FP;
const Vec3& p_BO = params.m_p_BO;
const Real r = params.m_radius;
// TODO: should be instance-stage data from State rather than
// topological data.
// This makes z axis point along plane normal
const MobilizedBodyIndex planeMBIx =
getMobilizedBodyIndexOfConstrainedBody(m_planeBody_F);
const MobilizedBodyIndex ballMBIx =
getMobilizedBodyIndexOfConstrainedBody(m_ballBody_B);
if (m_planeHalfWidth > 0) {
// On the inboard body, draw a gray transparent rectangle,
// outlined in black lines.
geom.push_back(DecorativeBrick
(Vec3(m_planeHalfWidth,m_planeHalfWidth,r/10))
.setColor(Gray)
.setRepresentation(DecorativeGeometry::DrawSurface)
.setOpacity(Real(0.3))
.setBodyId(planeMBIx)
.setTransform(X_FP));
geom.push_back(DecorativeFrame(m_planeHalfWidth/5)
.setColor(Gray)
.setBodyId(planeMBIx)
.setTransform(X_FP));
}
// On the ball body draw an orange mesh sphere.
geom.push_back(DecorativeSphere(r)
.setColor(Orange)
.setRepresentation(DecorativeGeometry::DrawWireframe)
.setBodyId(ballMBIx)
.setTransform(p_BO));
}
}
