SkeletonPtr createFloor()
{
SkeletonPtr floor = Skeleton::create("floor");
// Give the floor a body
BodyNodePtr body =
floor->createJointAndBodyNodePair<WeldJoint>(nullptr).second;
// Give the body a shape
double floor_width = 10.0;
double floor_height = 0.01;
std::shared_ptr<BoxShape> box(
new BoxShape(Eigen::Vector3d(floor_width, floor_height, floor_width)));
box->setColor(dart::Color::Black());
body->addVisualizationShape(box);
body->addCollisionShape(box);
// Put the body into position
Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
tf.translation() = Eigen::Vector3d(0.0, -1.0, 0.0);
body->getParentJoint()->setTransformFromParentBodyNode(tf);
return floor;
}
void setGeometry(const BodyNodePtr& bn)
{
// Create a BoxShape to be used for both visualization and collision checking
std::shared_ptr<BoxShape> box(new BoxShape(
Eigen::Vector3d(default_width, default_depth, default_height)));
box->setColor(dart::Color::Blue());
// Set the location of the Box
Eigen::Isometry3d box_tf(Eigen::Isometry3d::Identity());
Eigen::Vector3d center = Eigen::Vector3d(0, 0, default_height / 2.0);
box_tf.translation() = center;
box->setLocalTransform(box_tf);
// Add it as a visualization and collision shape
bn->addVisualizationShape(box);
bn->addCollisionShape(box);
// Move the center of mass to the center of the object
bn->setLocalCOM(center);
}
