void Skin0::createGeometries(ArRef<Skeleton> skeleton) { cout<<"Nb joints "<<skeleton->getNbJoints()<<endl; for (unsigned int i(0);i<skeleton->getNbJoints();++i) { ArRef<Joint> joint = skeleton->accessJoint(i); cout<<"joint "<<joint->getName()<<endl; ArConstRef<Joint> parent = joint->getParent(); if (parent.valid()) { cout<<" -> parent is "<<parent->getName()<<endl; } else { cout<<" -> no parent"<<endl; } ArRef<Object3D> object = Object3D::NEW(); object->setLocation(joint); object->attachTo(joint); ArRef<Sphere3D> sphere = Sphere3D::NEW(); sphere->setRadius(0.1); ArRef<Shape3D> shape = Shape3D::NEW(); shape->addRootPart(sphere); object->setShape(shape); _objects.push_back(object); cout<<"skin New object"<<endl; } }
KeyOrientation::KeyOrientation(ArCW& arCW, ArRef<C3DOF> c3dof) : Object3D(arCW), _c3dof(c3dof) { attachTo(_c3dof); // ArRef<Material3D> mat = new_Material3D(); ArRef<Material3D> mat = Material3D::NEW(); mat->setDiffuseColor(0.0, 0.2, 0.8); // _sphere = new_Sphere3D(); _sphere = Sphere3D::NEW(); _sphere->setRadius(0.2); _sphere->writeMaterial(mat); // ArRef<Shape3D> sh = new_Shape3D(); ArRef<Shape3D> sh = Shape3D::NEW(); sh->addRootPart(_sphere); setShape(sh); }