void setGeometry(const BodyNodePtr& bn)
{
// Create a BoxShape to be used for both visualization and collision checking
std::shared_ptr<BoxShape> box(new BoxShape(
Eigen::Vector3d(default_width, default_depth, default_height)));
box->setColor(dart::Color::Blue());
// Set the location of the Box
Eigen::Isometry3d box_tf(Eigen::Isometry3d::Identity());
Eigen::Vector3d center = Eigen::Vector3d(0, 0, default_height / 2.0);
box_tf.translation() = center;
box->setLocalTransform(box_tf);
// Add it as a visualization and collision shape
bn->addVisualizationShape(box);
bn->addCollisionShape(box);
// Move the center of mass to the center of the object
bn->setLocalCOM(center);
}
void setGeometry(const BodyNodePtr& bn)
{
// Create a BoxShape to be used for both visualization and collision checking
std::shared_ptr<BoxShape> box(new BoxShape(
Eigen::Vector3d(default_width, default_depth, default_height)));
// Create a shpae node for visualization and collision checking
auto shapeNode
= bn->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(box);
shapeNode->getVisualAspect()->setColor(dart::Color::Blue());
// Set the location of the shape node
Eigen::Isometry3d box_tf(Eigen::Isometry3d::Identity());
Eigen::Vector3d center = Eigen::Vector3d(0, 0, default_height / 2.0);
box_tf.translation() = center;
shapeNode->setRelativeTransform(box_tf);
// Move the center of mass to the center of the object
bn->setLocalCOM(center);
}
