void IvObjectDragger::GetMessage(ostream& sout)
{
ItemPtr selectedItem = GetSelectedItem();
if( !selectedItem ) {
return;
}
KinBodyItemPtr pbody = boost::dynamic_pointer_cast<KinBodyItem>(selectedItem);
if( !pbody ) {
return;
}
Transform t = pbody->GetTransform();
sout << "Selected " << selectedItem->GetName() << " (id=" << pbody->GetNetworkId() << ")" << endl
<< " translation = ("
<< std::fixed << std::setprecision(5)
<< std::setw(8) << std::left << t.trans.x << ", "
<< std::setw(8) << std::left << t.trans.y << ", "
<< std::setw(8) << std::left << t.trans.z << ")" << endl
<< " quaternion = ("
<< std::fixed << std::setprecision(5)
<< std::setw(8) << std::left << t.rot.x << ", "
<< std::setw(8) << std::left << t.rot.y << ", "
<< std::setw(8) << std::left << t.rot.z << ", "
<< std::setw(8) << std::left << t.rot.w << ")" << endl;
}
void IvJointDragger::GetMessage(ostream& sout)
{
ItemPtr selectedItem = GetSelectedItem();
if( !selectedItem ) {
return;
}
KinBodyItemPtr pbody = boost::dynamic_pointer_cast<KinBodyItem>(selectedItem);
if( !pbody ) {
return;
}
vector<dReal> vjoints;
pbody->GetDOFValues(vjoints);
sout << "Selected " << selectedItem->GetName() << " (id=" << pbody->GetNetworkId() << ")" << endl
<< std::fixed << std::setprecision(4)
<< " joint " << _jointname << " (" << _iJointIndex << ") " << " = " << vjoints[_iJointIndex];
if( pbody->GetBody()->GetJoints()[_iJointIndex]->GetType() != KinBody::JointSlider ) {
sout << " rad (" << (vjoints[_iJointIndex]/PI*180.0f) << " deg)" << endl;
}
}
