C++ (Cpp) BodyPtr::setModelName Examples

Example #1

File: projectGenerator.cpp Project: olivier-stasse/openhrp3-simulator-wo-rtm

  bool createBody(BodyPtr& body, BodyInfo_impl& bodyInfo)
  {
    this->body = body;

    const char* name = bodyInfo.name();
    body->setModelName(name);
    body->setName(name);

    int n = bodyInfo.links()->length();
    linkInfoSeq = bodyInfo.links();
    shapeInfoSeq = bodyInfo.shapes();
	extraJointInfoSeq = bodyInfo.extraJoints();

    int rootIndex = -1;

    for(int i=0; i < n; ++i){
        if(linkInfoSeq[i].parentIndex < 0){
            if(rootIndex < 0){
                rootIndex = i;
            } else {
                 // more than one root !
                rootIndex = -1;
                break;
            }
        }
    }

    if(rootIndex >= 0){ // root exists

        Matrix33 Rs(Matrix33::Identity());
        Link* rootLink = createLink(rootIndex, Rs);
        body->setRootLink(rootLink);
        body->setDefaultRootPosition(rootLink->b, rootLink->Rs);

        body->installCustomizer();
        body->initializeConfiguration();
#if 0
		setExtraJoints();
#endif
        return true;
    }

    return false;
  }