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//! Specialized body class.
/*!
* Predefined body class. Ready to use in a RobotActor.
* This body represents the wheels of the robot.
*
* @author Lutz Winkler
*
*/
#include <srBody/wheel.h>
namespace srCore {
// units need to be around one to make the ode most stable. Hereby 1 length union is equal to 5cm.
#define SCALE_3DS 0.2 //0.2
#define WHEEL_SIZE SCALE_3DS
#define WHEEL_MASS 0.01
#define WHEEL_RADIUS 0.5 * SCALE_3DS //4.5
#define WHEEL_LENGTH 1 * SCALE_3DS //2
using namespace srCore;
//! Constructor
/*! @param id a 16bit id, used to set the colliding bit parameter.
* @param x, y, z the position of the hinge in the world coordinate system.
* @param heading, pitch, roll the orientation of the axis of the hinge in the world coordinate system.
* @param Scene the scene in which the body should be placed.
*
*/
Wheel::Wheel( RobotActorBase* robot,
float x, float y, float z,
float heading, float pitch, float roll)
{
// initializing. parameters: name, id (of the robot), position, orientation and the scene
// needs to be done first
this->init("wheel", robot, x, y, z, heading, pitch, roll);
// loading 3ds model
char file[50];
sprintf(file, "%s/StaticMeshes/wheel.3ds", SimulationUtils::getStageProjectPath().c_str());
//sprintf(file, "%s/StaticMeshes/barrel.ive", SimulationUtils::getStageProjectPath().c_str());
LoadFile(file, false);
// scaling the model
SetScale(osg::Vec3(WHEEL_SIZE, WHEEL_SIZE, WHEEL_SIZE));
// our Object just needs a mass now ...
this->setMass(WHEEL_MASS, WHEEL_RADIUS, WHEEL_LENGTH);
// defining the collision box
this->setCollisionCylinder(WHEEL_RADIUS, WHEEL_LENGTH);
// ... and then, it is ready to place it in the scene
this->addToScene();
// to check if the collision geometry fits to the model:
this->renderCollisionGeometry(true);
this->colorCollisionShape(osg::Vec4(255,0,0,0));
// this->colorBody(osg::Vec4(1,0,0,0));
// need to be set to let the wheels rotate
dBodySetFiniteRotationMode(GetBodyID(), 1);
setCollisionBits(2);
}
Wheel::~Wheel()
{
}
}
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