dBodyID KinematicNodeFixed::attachToODE(PhysicsEnvironment *environment, dSpaceID visualSpaceID, dSpaceID collisionSpaceID, arma::mat44 coordinateFrame)
{
KinematicNodeDummy::attachToODE(environment, visualSpaceID, collisionSpaceID, coordinateFrame);
dBodyID body = getODEBody();
dBodySetKinematic(body);
return body;
}
dBodyID KinematicNodeDummy::attachToODE(PhysicsEnvironment *environment, dSpaceID visualSpaceID, dSpaceID collisionSpaceID, arma::mat44 parentsCoordinateFrame)
{
// move coordinate frame to current node:
arma::mat44 coordinateFrame = parentsCoordinateFrame * forwardMatrix;
dWorldID worldID = environment->getWorldID();
if (nullptr == m_parent)
{
// the body must coincide with the center of mass of the equivalent mass of all dummy children and this nodes masses
arma::mat44 frame = arma::eye(4, 4);
dMass equivMass = this->getODEMass(frame);
for (KinematicNode *child : m_children)
{
arma::mat44 childFrame = frame * child->getForwardMatrix();
dMass childMass = child->getODEMassToAttachToParent(childFrame);
if (childMass.mass > 0.) {
dMassAdd(&equivMass, &childMass);
}
}
m_odeNodeBodyOffset = arma::eye(4, 4);
m_odeNodeBodyOffset(0, 3) = equivMass.c[0];
m_odeNodeBodyOffset(1, 3) = equivMass.c[1];
m_odeNodeBodyOffset(2, 3) = equivMass.c[2];
dMassTranslate(&equivMass, -m_odeNodeBodyOffset(0, 3), -m_odeNodeBodyOffset(1, 3), -m_odeNodeBodyOffset(2, 3));
// create a body
m_odeBody = dBodyCreate(worldID);
arma::mat44 globalSystemBodyOffset = coordinateFrame * m_odeNodeBodyOffset;
dMatrix3 bodyRotation;
dVector3 bodyPosition;
odeUtils::getRotationMatrixAsDMat(globalSystemBodyOffset, bodyRotation);
odeUtils::getPositionAsDVec(globalSystemBodyOffset, bodyPosition);
dBodySetPosition(m_odeBody, bodyPosition[0], bodyPosition[1], bodyPosition[2]);
dBodySetRotation(m_odeBody, bodyRotation);
if (equivMass.mass > 0.)
{
dBodySetMass(m_odeBody, &equivMass);
} else {
dBodyGetMass(m_odeBody, &equivMass);
equivMass.mass = std::numeric_limits<double>::min();
dBodySetMass(m_odeBody, &equivMass);
}
} else {
// setup the nodeBodyOffset based on the parent's odeBody
dBodyID body = this->getODEBody();
const dReal *bodyPosition = dBodyGetPosition(body);
const dReal *bodyRotation = dBodyGetRotation(body);
arma::mat44 bodyFrame = odeUtils::getMatFromDMatAndDVec(bodyRotation, bodyPosition);
arma::mat44 helperRotation = arma::eye(4, 4);
helperRotation.submat(0, 0, 2, 2) = coordinateFrame.submat(0, 0, 2, 2);
m_odeNodeBodyOffset = coordinateFrame.i() * bodyFrame;
}
// create a "box" to visualize the node
dGeomID geom = dCreateSphere(visualSpaceID, 0.005);
dMatrix3 bodyRotation;
dVector3 bodyPosition;
// the visuals are defined as "local" coordinates but here we need to incorporate the body offset
arma::mat44 visualsFrame = m_odeNodeBodyOffset.i();
odeUtils::getRotationMatrixAsDMat(visualsFrame, bodyRotation); // inverse of rotation part
odeUtils::getPositionAsDVec(visualsFrame, bodyPosition);
dGeomSetBody(geom, getODEBody());
dGeomSetOffsetRotation(geom, bodyRotation);
dGeomSetOffsetPosition(geom, bodyPosition[0], bodyPosition[1], bodyPosition[2]);
// finally add all the visuals
this->attatchODEVisuals(visualsFrame, getODEBody(), collisionSpaceID);
// recurse into everything attached to this node
for (KinematicNode *child : m_children)
{
dBodyID childBody = child->attachToODE(environment, visualSpaceID, collisionSpaceID, coordinateFrame);
UNUSED(childBody);
}
return m_odeBody;
}