Exemplos de ItemPtr::GetIvTransform em C++ (Cpp)

Exemplo n.º 1

Arquivo: ivselector.cpp Projeto: AbuShaqra/openrave

// Update the skeleton transforms based on the dragger.
void IvObjectDragger::UpdateSkeleton()
{
    ItemPtr selectedItem = GetSelectedItem();
    if( !selectedItem ) {
        return;
    }
    RaveTransform<float> tbox;
    const float* q = _transformBox->rotation.getValue().getValue();
    tbox.rot = Vector(q[3], q[0], q[1], q[2]);
    SbVec3f v = _transformBox->translation.getValue();
    tbox.trans = Vector(v[0], v[1], v[2]);

    Transform told; told.trans = -_ab.pos;

    RaveTransform<float> tnew = tbox*told*_toffset;
    SetSoTransform(selectedItem->GetIvTransform(), tnew);

    KinBodyItemPtr pbody = boost::dynamic_pointer_cast<KinBodyItem>(selectedItem);
    if( !!pbody ) {
        pbody->UpdateFromIv();
        CheckCollision(_checkCollision);
    }
    // other motion handler calls
    _viewer.lock()->_UpdateCameraTransform(0);
}