| 591 | } |
| 592 | |
| 593 | SkeletonPtr createGround() |
| 594 | { |
| 595 | SkeletonPtr ground = Skeleton::create("ground"); |
| 596 | |
| 597 | BodyNode* bn = ground->createJointAndBodyNodePair<WeldJoint>().second; |
| 598 | |
| 599 | std::shared_ptr<BoxShape> shape = std::make_shared<BoxShape>(Eigen::Vector3d( |
| 600 | default_ground_width, default_ground_width, default_wall_thickness)); |
| 601 | auto shapeNode |
| 602 | = bn->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>( |
| 603 | shape); |
| 604 | shapeNode->getVisualAspect()->setColor(Eigen::Vector3d(1.0, 1.0, 1.0)); |
| 605 | |
| 606 | return ground; |
| 607 | } |
| 608 | |
| 609 | SkeletonPtr createWall() |
| 610 | { |
no test coverage detected