w

dart/dynamics/RigidBody.cpp

@@ -0,0 +1,65 @@
+/*
+ * Copyright (c) 2011-2024, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "dart/dynamics/RigidBody.hpp"
+
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/BoxShape.hpp"
+#include "dart/dynamics/FreeJoint.hpp"
+#include "dart/dynamics/ShapeFrame.hpp"
+#include "dart/dynamics/ShapeNode.hpp"
+
+namespace dart::dynamics {
+
+SkeletonPtr RigidBody::create(const Config& config)
+{
+  return SkeletonPtr(new RigidBody(config));
+}
+
+RigidBody::RigidBody(const Config& config) : Skeleton(config.name)
+{
+  auto jointAndBody = this->createJointAndBodyNodePair<dynamics::FreeJoint>();
+  auto body = jointAndBody.second;
+  auto shapeNode = body->createShapeNodeWith<
+      dynamics::VisualAspect,
+      dynamics::CollisionAspect,
+      dynamics::DynamicsAspect>(
+      std::make_shared<dynamics::BoxShape>(Eigen::Vector3d(0.3, 0.3, 0.3)));
+  (void)shapeNode;
+}
+
+RigidBody::~RigidBody()
+{
+  // Do nothing
+}
+
+} // namespace dart::dynamics

dart/dynamics/RigidBody.hpp

@@ -0,0 +1,66 @@
+/*
+ * Copyright (c) 2011-2024, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#pragma once
+
+#include <dart/dynamics/Skeleton.hpp>
+
+namespace dart::dynamics {
+
+struct RigidBodyConfig
+{
+  std::string name = "RigidBody";
+  Eigen::Vector3d position = Eigen::Vector3d::Zero();
+
+  RigidBodyConfig(const std::string& name = "RigidBody") : name(name)
+  {
+    // Empty
+  }
+};
+
+class RigidBody : public Skeleton
+{
+public:
+  using Config = RigidBodyConfig;
+
+  static SkeletonPtr create(const Config& config = Config());
+
+  /// Constructor
+  explicit RigidBody(const Config& config = Config());
+
+  /// Destructor
+  ~RigidBody() override;
+
+  void setPosition(const Eigen::Vector3d& position);
+};
+
+} // namespace dart::dynamics

examples/hello_world/main.cpp

@@ -57,6 +57,8 @@ int main()
   body->setInertia(dynamics::Inertia(
       1, Eigen::Vector3d::Zero(), shapeNode->getShape()->computeInertia(1.0)));
   shapeNode->getVisualAspect()->setColor(dart::Color::Blue());
+  auto body2 = dynamics::RigidBody::create();
+  (void)body2;
 
   // Create ground
   auto ground = dynamics::Skeleton::create("ground");