SimObject.h

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#pragma once
 
#include <VirtualRobot/SceneObject.h>
 
#include <MujocoX/libraries/Simulation/SimEntity.h>
 
 
namespace mujoco
{
    class Data;
 
    struct SimObject
    {
        SimObject();
        SimObject(const std::string& name);
        SimObject(VirtualRobot::SceneObjectPtr sceneObject);
 
        void update(mujoco::Model& model);
        void updateSceneObjectPose(const Data& data, float lengthScaling = 1.);
 
        const std::string& name() const;
 
 
        mujoco::SimBody body;
        mujoco::SimGeom geom;
 
        VirtualRobot::SceneObjectPtr sceneObject;
    };
 
}