本文整理汇总了C++中BodyNode::setInertia方法的典型用法代码示例。如果您正苦于以下问题：C++ BodyNode::setInertia方法的具体用法？C++ BodyNode::setInertia怎么用？C++ BodyNode::setInertia使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类BodyNode的用法示例。
在下文中一共展示了BodyNode::setInertia方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
int main(int argc, char* argv[]) {
using dart::dynamics::BodyNode;
using dart::dynamics::FreeJoint;
using dart::dynamics::MeshShape;
using dart::dynamics::Skeleton;
using dart::simulation::World;
using dart::utils::SkelParser;
// Create and initialize the world
World* myWorld = dart::utils::SkelParser::readSkelFile(
DART_DATA_PATH"/skel/mesh_collision.skel");
// Create a skeleton
Skeleton* MeshSkel = new Skeleton("Mesh Skeleton");
// Always set the root node ( 6DOF for rotation and translation )
FreeJoint* joint;
BodyNode* node;
// Set the initial Rootnode that controls the position and orientation of the
// whole robot
node = new BodyNode("rootBodyNode");
joint = new FreeJoint("rootJoint");
// Add joint to the body node
node->setParentJoint(joint);
// Load a Mesh3DTriangle to save in Shape
const aiScene* m3d = MeshShape::loadMesh(DART_DATA_PATH"/obj/foot.obj");
// Create Shape and assign it to node
MeshShape* Shape0 = new MeshShape(Eigen::Vector3d(1.0, 1.0, 1.0), m3d);
node->addVisualizationShape(Shape0);
node->addCollisionShape(Shape0);
node->setInertia(0.000416667, 0.000416667, 0.000416667);
node->setMass(1.0); // 1 Kg according to cube1.skel
// Add node to Skel
MeshSkel->addBodyNode(node);
// Add MeshSkel to the world
myWorld->addSkeleton(MeshSkel);
// Verify that our skeleton has something inside :)
std::printf("Our skeleton has %d nodes \n", MeshSkel->getNumBodyNodes());
// std::printf("Our skeleton has %d joints \n", MeshSkel->getNumJoints());
std::printf("Our skeleton has %d DOFs \n", MeshSkel->getNumGenCoords());
MyWindow window;
window.setWorld(myWorld);
std::cout << "space bar: simulation on/off" << std::endl;
std::cout << "'s': simulate one step" << std::endl;
std::cout << "'p': playback/stop" << std::endl;
std::cout << "'[' and ']': play one frame backward and forward" << std::endl;
std::cout << "'v': visualization on/off" << std::endl;
std::cout << "'1' and '2': programmed interaction" << std::endl;
glutInit(&argc, argv);
window.initWindow(640, 480, "meshCollision");
glutMainLoop();
aiReleaseImport(m3d);
return 0;
}