void addDuplexDecorations(MobilizedBodyIndex bodyNum, Real r, Real halfHeight, Real slop, int nAtoms,
Real atomRadius, Visualizer& display) const
{
display.addDecoration(bodyNum, Transform(),
DecorativeCylinder(r+atomRadius+slop, halfHeight).setColor(Cyan).setOpacity(0.4));
const Real pitch = 2*Pi/halfHeight;
const Real trans = (2*halfHeight)/(nAtoms-1);
const Real rot = pitch*trans;
for (int i=0; i<nAtoms; ++i) {
const Real h = halfHeight - i*trans;
const Real th = i*rot;
const Vec3 p1(-r*cos(th),h,r*sin(th)), p2(r*cos(th),h,-r*sin(th));
display.addDecoration(bodyNum, Transform(Vec3(p1)),
DecorativeSphere(atomRadius).setColor(Red).setResolution(0.5));
display.addDecoration(bodyNum, Transform(Vec3(p2)),
DecorativeSphere(atomRadius).setColor(Green).setResolution(0.5));
}
}
void addConnectorDecorations(MobilizedBodyIndex bodyNum, Real r, Real halfHeight, Real endSlop,
Visualizer& display) const
{
display.addDecoration(bodyNum, Transform(),
DecorativeCylinder(r, halfHeight-endSlop).setColor(Blue));
}
