allow BodyShape to take shape transformations

Author: baggepinnen

ext/Render.jl

@@ -408,6 +408,8 @@ end
 function render!(scene, ::typeof(BodyShape), sys, sol, t)
     color = get_color(sys, sol, :purple)
     shapepath = get_shape(sys, sol)
+    Tshape = reshape(sol(sol.t[1], idxs=sys.shape_transform), 4, 4)
+    scale = Vec3f(Float32(sol(sol.t[1], idxs=sys.shape_scale))*ones(Float32, 3))
     if isempty(shapepath)
         radius = Float32(sol(sol.t[1], idxs=sys.radius))
         r_0a = get_fun(sol, collect(sys.frame_a.r_0))
@@ -428,11 +430,11 @@ function render!(scene, ::typeof(BodyShape), sys, sol, t)
         m = mesh!(scene, shapemesh; color, specular = Vec3f(1.5))
 
         @views on(t) do t
-            Ta = T(t)
+            Ta = T(t)*Tshape
             r1 = Point3f(Ta[1:3, 4])
             q = Rotations.QuatRotation(Ta[1:3, 1:3]).q
             Q = Makie.Quaternionf(q.v1, q.v2, q.v3, q.s)
-            Makie.transform!(m, translation=r1, rotation=Q)
+            Makie.transform!(m; translation=r1, rotation=Q, scale)
         end
     end
 

src/components.jl

@@ -380,7 +380,7 @@ The `BodyShape` component is similar to a [`Body`](@ref), but it has two frames
 
 See also [`BodyCylinder`](@ref) and [`BodyBox`](@ref) for body components with predefined shapes and automatically computed inertial properties based on geometry and density.
 """
-@component function BodyShape(; name, m = 1, r = [0, 0, 0], r_cm = 0.5*r, r_0 = 0, radius = 0.08, color=purple, shapefile="", kwargs...)
+@component function BodyShape(; name, m = 1, r = [0, 0, 0], r_cm = 0.5*r, r_0 = 0, radius = 0.08, color=purple, shapefile="", shape_transform = I(4), shape_scale = 1, kwargs...)
     systems = @named begin
         translation = FixedTranslation(r = r)
         body = Body(; r_cm, r_0, kwargs...)
@@ -408,10 +408,12 @@ See also [`BodyCylinder`](@ref) and [`BodyBox`](@ref) for body components with p
         radius = radius, [description = "Radius of the body in animations"]
         color[1:4] = color, [description = "Color of the body in animations"]
         shapefile[1:length(shapecode)] = shapecode
+        shape_transform[1:16] = vec(shape_transform)
+        shape_scale = shape_scale
     end
 
 
-    pars = [r; radius; color; shapefile]
+    pars = [r; radius; color; shapefile; shape_transform; shape_scale]
 
     r_0, v_0, a_0 = collect.((r_0, v_0, a_0))