/** Create the model
*/
void createRigidBodyModel()
{
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
SimulationModel::ConstraintVector &constraints = model.getConstraints();
string fileName = dataPath + "/models/cube.obj";
IndexedFaceMesh mesh;
VertexData vd;
OBJLoader::loadObj(fileName, vd, mesh, Eigen::Vector3f(width, height, depth));
rb.resize(12);
//////////////////////////////////////////////////////////////////////////
// -5, -5
//////////////////////////////////////////////////////////////////////////
rb[0] = new RigidBody();
rb[0]->initBody(0.0f,
Eigen::Vector3f(-5.0, 0.0f, -5.0),
computeInertiaTensorBox(1.0f, 0.5f, 0.5f, 0.5f),
Eigen::Quaternionf(1.0f, 0.0f, 0.0f, 0.0f),
vd, mesh);
// dynamic body
rb[1] = new RigidBody();
rb[1]->initBody(1.0f,
Eigen::Vector3f(-5.0f, 1.0f, -5.0f),
computeInertiaTensorBox(1.0f, width, height, depth),
Eigen::Quaternionf(1.0f, 0.0f, 0.0f, 0.0f),
vd, mesh);
// dynamic body
rb[2] = new RigidBody();
rb[2]->initBody(1.0f,
Eigen::Vector3f(-5.0f, 3.0f, -5.0f),
computeInertiaTensorBox(1.0f, width, height, depth),
Eigen::Quaternionf(1.0f, 0.0f, 0.0f, 0.0f),
vd, mesh);
model.addBallJoint(0, 1, Eigen::Vector3f(-5.0f, 0.0f, -5.0f));
model.addBallJoint(1, 2, Eigen::Vector3f(-5.0f, 2.0f, -5.0f));
//////////////////////////////////////////////////////////////////////////
// 5, -5
//////////////////////////////////////////////////////////////////////////
rb[3] = new RigidBody();
rb[3]->initBody(0.0f,
Eigen::Vector3f(5.0, 0.0f, -5.0),
computeInertiaTensorBox(1.0f, 0.5f, 0.5f, 0.5f),
Eigen::Quaternionf(1.0f, 0.0f, 0.0f, 0.0f),
vd, mesh);
// dynamic body
rb[4] = new RigidBody();
rb[4]->initBody(1.0f,
Eigen::Vector3f(5.0f, 1.0f, -5.0f),
computeInertiaTensorBox(1.0f, width, height, depth),
Eigen::Quaternionf(1.0f, 0.0f, 0.0f, 0.0f),
vd, mesh);
// dynamic body
rb[5] = new RigidBody();
rb[5]->initBody(1.0f,
Eigen::Vector3f(5.0f, 3.0f, -5.0f),
computeInertiaTensorBox(1.0f, width, height, depth),
Eigen::Quaternionf(1.0f, 0.0f, 0.0f, 0.0f),
vd, mesh);
model.addBallJoint(3, 4, Eigen::Vector3f(5.0f, 0.0f, -5.0f));
model.addBallJoint(4, 5, Eigen::Vector3f(5.0f, 2.0f, -5.0f));
//////////////////////////////////////////////////////////////////////////
// 5, 5
//////////////////////////////////////////////////////////////////////////
rb[6] = new RigidBody();
rb[6]->initBody(0.0f,
Eigen::Vector3f(5.0, 0.0f, 5.0),
computeInertiaTensorBox(1.0f, 0.5f, 0.5f, 0.5f),
Eigen::Quaternionf(1.0f, 0.0f, 0.0f, 0.0f),
vd, mesh);
// dynamic body
rb[7] = new RigidBody();
rb[7]->initBody(1.0f,
Eigen::Vector3f(5.0f, 1.0f, 5.0f),
computeInertiaTensorBox(1.0f, width, height, depth),
Eigen::Quaternionf(1.0f, 0.0f, 0.0f, 0.0f),
vd, mesh);
// dynamic body
rb[8] = new RigidBody();
rb[8]->initBody(1.0f,
Eigen::Vector3f(5.0f, 3.0f, 5.0f),
computeInertiaTensorBox(1.0f, width, height, depth),
Eigen::Quaternionf(1.0f, 0.0f, 0.0f, 0.0f),
vd, mesh);
model.addBallJoint(6, 7, Eigen::Vector3f(5.0f, 0.0f, 5.0f));
model.addBallJoint(7, 8, Eigen::Vector3f(5.0f, 2.0f, 5.0f));
//////////////////////////////////////////////////////////////////////////
// -5, 5
//////////////////////////////////////////////////////////////////////////
rb[9] = new RigidBody();
rb[9]->initBody(0.0f,
Eigen::Vector3f(-5.0, 0.0f, 5.0),
computeInertiaTensorBox(1.0f, 0.5f, 0.5f, 0.5f),
Eigen::Quaternionf(1.0f, 0.0f, 0.0f, 0.0f),
vd, mesh);
// dynamic body
rb[10] = new RigidBody();
rb[10]->initBody(1.0f,
Eigen::Vector3f(-5.0f, 1.0f, 5.0f),
computeInertiaTensorBox(1.0f, width, height, depth),
Eigen::Quaternionf(1.0f, 0.0f, 0.0f, 0.0f),
vd, mesh);
// dynamic body
rb[11] = new RigidBody();
rb[11]->initBody(1.0f,
Eigen::Vector3f(-5.0f, 3.0f, 5.0f),
computeInertiaTensorBox(1.0f, width, height, depth),
Eigen::Quaternionf(1.0f, 0.0f, 0.0f, 0.0f),
vd, mesh);
model.addBallJoint(9, 10, Eigen::Vector3f(-5.0f, 0.0f, 5.0f));
model.addBallJoint(10, 11, Eigen::Vector3f(-5.0f, 2.0f, 5.0f));
model.addRigidBodyParticleBallJoint(2, 0);
model.addRigidBodyParticleBallJoint(5, (nRows - 1)*nCols);
model.addRigidBodyParticleBallJoint(8, nRows*nCols - 1);
model.addRigidBodyParticleBallJoint(11, nCols-1);
}
