add file

src/visualizers.jl

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+@mtkmodel Visaluzable begin
+ @components begin
+ frame_a = Frame()
+ end
+ @parameters begin
+ color[1:4] = [1.0, 0.0, 0.0, 1.0], [description = "Color of the body in animations"]
+ render = true, [description = "Render the joint in animations"]
+ end
+ @equations begin
+ frame_a.f ~ zeros(3)
+ frame_a.tau ~ zeros(3)
+ end
+end
+
+@mtkmodel SphereVisualizer begin
+ @extend () = v = Visaluzable()
+ @parameters begin
+ radius = 0.1, [description = "Radius of the sphere in animations"]
+ end
+end
+
+@mtkmodel CylinderVisualizer begin
+ @extend () = v = Visaluzable()
+ @parameters begin
+ radius = 0.1, [description = "Radius of the sphere in animations"]
+ length = 1.0, [description = "length of the cylinder"]
+ length_direction[1:3] = [1.0, 0.0, 0.0], [description = "length direction of the cylinder, resolved in frame_a"]
+ end
+end
+
+@mtkmodel BoxVisualizer begin
+ @extend () = v = Visaluzable()
+ @parameters begin
+ length_direction[1:3] = [1.0, 0.0, 0.0], [description = "length direction of the box, resolved in frame_a"]
+ width_direction[1:3] = [0.0, 1.0, 0.0], [description = "width direction of the box, resolved in frame_a"]
+ length = 1.0, [description = "length of the box"]
+ width = 1.0, [description = "width of the box"]
+ height = 1.0, [description = "height of the box"]
+ r_shape[1:3] = [0,0,0]
+ end
+end
+