Fix ContactHalfSpace decoration to lie within the contact geometry. #2212
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No. The change I made is correct regardless of the orientation of the contact half-plane. |
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Thanks @aymanhab |
| @@ -77,8 +77,14 @@ void ContactHalfSpace::generateDecorations(bool fixed, const ModelDisplayHints& | |||
| const auto& X_BF = getFrame().findTransformInBaseFrame(); | |||
| const auto& X_FP = getTransform(); | |||
| const auto X_BP = X_BF * X_FP; | |||
| geometry.push_back(SimTK::DecorativeBrick(Vec3{.005, 0.5, 0.5}) | |||
| .setTransform(X_BP).setScale(1) | |||
| const double brickHalfThickness = 0.005; | |||
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The issue here is that we are representing a plane with a brick. I think it is misleading to present a plane with a block with thickness. While I agree using the top surface of the brick is better (than the middle) in reality we shouldn't be presenting any thickness. Ideally we could draw planes. For the time being we could use a thickness of 1mm instead of 1cm?
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I've changed the thickness to 1mm. Here's a comparison:
1cm:
1mm:
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Don't forget to update testVisualization!
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Thanks @tkuchida |
Fixes #2211
Brief summary of changes
ContactHalfSpaceso that the half-space's decorative geometry does not protrode outside of the contact geometry (half in, half out).Testing I've completed
testContactGeometryand ensured that the entireDecorativeBrickfor theContactHalfSpaceappeared below ground.testVisualization(this test initially failed after I changedContactHalfSpace.cpp).CHANGELOG.md (choose one)
ContactHalfSpacewas not in any previous release.