physx_footbot_model.cpp

Go to the documentation of this file.

 
#include "physx_footbot_model.h"
#include <argos3/plugins/robots/foot-bot/simulator/footbot_entity.h>
 
namespace argos {
 
   /****************************************/
   /****************************************/
   
   CPhysXFootBotModel::CPhysXFootBotModel(CPhysXEngine& c_engine,
                                                      CFootBotEntity& c_entity) :
      CPhysXSingleBodyObjectModel(c_engine, c_entity),
      m_cFootBotEntity(c_entity) {
      /* Calculate base center */
      SetARGoSReferencePoint(physx::PxVec3(0.0f, 0.0f, 0.0f));
      /* Get position and orientation in this engine's representation */
      physx::PxVec3 cPos;
      CVector3ToPxVec3(GetEmbodiedEntity().GetOriginAnchor().Position, cPos);
      physx::PxQuat cOrient;
      CQuaternionToPxQuat(GetEmbodiedEntity().GetOriginAnchor().Orientation, cOrient);
      /* Create the transform
       * 1. a translation up by half body height
       * 2. a rotation around the base
       * 3. a translation to the final position
       */
      physx::PxTransform cTranslation1(physx::PxVec3(0.0f, 0.0f, 0.0f));
      physx::PxTransform cRotation(cOrient);
      physx::PxTransform cTranslation2(cPos);
      physx::PxTransform cFinalTrans = cTranslation2 * cRotation * cTranslation1;
      /* Calculate bounding box */
      CalculateBoundingBox();
   }
 
   /****************************************/
   /****************************************/
 
   void CPhysXFootBotModel::UpdateFromEntityStatus() {
   }
 
   /****************************************/
   /****************************************/
 
   REGISTER_STANDARD_PHYSX_OPERATIONS_ON_ENTITY(CFootBotEntity, CPhysXFootBotModel);
 
   /****************************************/
   /****************************************/
 
}