Function createWall

tutorials/tutorial_collisions/main.cpp:438–461

}

SkeletonPtr createWall()
{
  SkeletonPtr wall = Skeleton::create("wall");

  BodyNode* bn = wall->createJointAndBodyNodePair<WeldJoint>().second;

  std::shared_ptr<BoxShape> shape = std::make_shared<BoxShape>(Eigen::Vector3d(
      default_wall_thickness, default_ground_width, default_wall_height));
  auto shapeNode
      = bn->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(
          shape);
  shapeNode->getVisualAspect()->setColor(Eigen::Vector3d(0.8, 0.8, 0.8));

  Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
  tf.translation() = Eigen::Vector3d(
      (default_ground_width + default_wall_thickness) / 2.0,
      0.0,
      (default_wall_height - default_wall_thickness) / 2.0);
  bn->getParentJoint()->setTransformFromParentBodyNode(tf);

  shapeNode->getDynamicsAspect()->setRestitutionCoeff(0.2);

  return wall;
}

int main(int argc, char* argv[])
{