Function Karana::KUtils::visualizeInterBodyTorque

Function Karana::KUtils::visualizeInterBodyTorque#

Function Documentation#

kc::ks_ptr<ScaledVectorVisualizer> Karana::KUtils::visualizeInterBodyTorque(const kc::ks_ptr<kd::HingeOnode> &onode, const kc::ks_ptr<ks::ProxyScene> &scene, bool use_ta)#

Visualize the interbody torque on a node.

Parameters:

  • onode – The Onode to visualize the torque for.

  • scene – The ProxyScene to use for visualizing.

  • use_ta – If true, use TA getInterBodyForceTAFwdDyn to calculate the torque. Otherwise, use getInterBodyForceTreeFwdDyn.

Returns:

A ScaledVectorVisualizer for visualizing the interbody torque on the node.

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