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dartsim · Mar 22, 2024 · 32c120a · 32c120a
1 parent 9abba11
commit 32c120a
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Showing 4 changed files with 8 additions and 33 deletions.
diff --git a/examples/deprecated_examples/glut_atlas_simbicon/MyWindow.cpp b/examples/deprecated_examples/glut_atlas_simbicon/MyWindow.cpp
@@ -70,27 +70,6 @@ void MyWindow::timeStepping()
   }
 }
 
-//==============================================================================
-void MyWindow::drawSkels()
-{
-  //  glEnable(GL_LIGHTING);
-  //  glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-
-  for (unsigned int i = 0; i < mWorld->getNumSkeletons(); i++)
-    drawSkeleton(mWorld->getSkeleton(i).get());
-
-  // draw arrow
-  if (mImpulseDuration > 0) {
-    Eigen::Vector3d poa = mWorld->getSkeleton("drc_skeleton")
-                              ->getBodyNode("pelvis")
-                              ->getTransform()
-                          * Eigen::Vector3d(0.0, 0.0, 0.0);
-    Eigen::Vector3d start = poa - mForce / 500.0;
-    double len = mForce.norm() / 500.0;
-    dart::gui::drawArrow3D(start, mForce, len, 0.05, 0.1);
-  }
-}
-
 //==============================================================================
 void MyWindow::keyboard(unsigned char _key, int _x, int _y)
 {

diff --git a/examples/deprecated_examples/glut_atlas_simbicon/MyWindow.hpp b/examples/deprecated_examples/glut_atlas_simbicon/MyWindow.hpp
@@ -52,9 +52,6 @@ class MyWindow : public dart::gui::glut::SimWindow
   // Documentation inherited
   void timeStepping() override;
 
-  // Documentation inherited
-  void drawSkels() override;
-
   // Documentation inherited
   void keyboard(unsigned char _key, int _x, int _y) override;
 

diff --git a/examples/deprecated_examples/glut_atlas_simbicon/TerminalCondition.cpp b/examples/deprecated_examples/glut_atlas_simbicon/TerminalCondition.cpp
@@ -94,15 +94,12 @@ bool BodyContactCondition::isSatisfied()
   }
 
   // TODO(JS): Need more elegant condition check method
-  DART_SUPPRESS_DEPRECATED_BEGIN
-  if (mBodyNode->isColliding())
-    DART_SUPPRESS_DEPRECATED_END
-    {
-      //    dtmsg << "BodyNode [" << mBodyNode->getName() << "] is in contact."
-      //          << std::endl;
-      return true;
-    }
-  else {
+  const CollisionResult& result = mConstraintSolver->getLastCollisionResult();
+  if (result.inCollision(mBodyNode)) {
+    //    dtmsg << "BodyNode [" << mBodyNode->getName() << "] is in contact."
+    //          << std::endl;
+    return true;
+  } else {
     //    dtmsg << "Waiting for BodyNode [" << mBodyNode->getName()
     //          << "] is in contact."
     //          << std::endl;

diff --git a/examples/deprecated_examples/glut_atlas_simbicon/TerminalCondition.hpp b/examples/deprecated_examples/glut_atlas_simbicon/TerminalCondition.hpp
@@ -97,6 +97,8 @@ class BodyContactCondition : public TerminalCondition
 protected:
   /// \brief Body node to be tested
   dart::dynamics::BodyNode* mBodyNode;
+
+  dart::dynamics::ConstraintSolver* mConstraintSolver;
 };
 
 #endif // EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_