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//! Specialized body class.
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* Predefined body class. Ready to use in a RobotActor.
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* This body represents the wheels of the robot.
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#include <srBody/wheel.h>
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// units need to be around one to make the ode most stable. Hereby 1 length union is equal to 5cm.
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#define SCALE_3DS 0.2 //0.2
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#define WHEEL_SIZE SCALE_3DS
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#define WHEEL_MASS 0.01
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#define WHEEL_RADIUS 0.5 * SCALE_3DS //4.5
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#define WHEEL_LENGTH 1 * SCALE_3DS //2
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using namespace srCore;
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/*! @param id a 16bit id, used to set the colliding bit parameter.
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* @param x, y, z the position of the hinge in the world coordinate system.
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* @param heading, pitch, roll the orientation of the axis of the hinge in the world coordinate system.
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* @param Scene the scene in which the body should be placed.
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Wheel::Wheel( RobotActorBase* robot,
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float x, float y, float z,
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float heading, float pitch, float roll)
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// initializing. parameters: name, id (of the robot), position, orientation and the scene
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// needs to be done first
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this->init("wheel", robot, x, y, z, heading, pitch, roll);
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sprintf(file, "%s/StaticMeshes/wheel.3ds", SimulationUtils::getStageProjectPath().c_str());
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//sprintf(file, "%s/StaticMeshes/barrel.ive", SimulationUtils::getStageProjectPath().c_str());
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LoadFile(file, false);
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SetScale(osg::Vec3(WHEEL_SIZE, WHEEL_SIZE, WHEEL_SIZE));
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// our Object just needs a mass now ...
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this->setMass(WHEEL_MASS, WHEEL_RADIUS, WHEEL_LENGTH);
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// defining the collision box
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this->setCollisionCylinder(WHEEL_RADIUS, WHEEL_LENGTH);
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// ... and then, it is ready to place it in the scene
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// to check if the collision geometry fits to the model:
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this->renderCollisionGeometry(true);
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this->colorCollisionShape(osg::Vec4(255,0,0,0));
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// this->colorBody(osg::Vec4(1,0,0,0));
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// need to be set to let the wheels rotate
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dBodySetFiniteRotationMode(GetBodyID(), 1);
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src/srBody/wheel.cpp
