From a60a1e25dbc8fded67432f67c2ffaef410c17876 Mon Sep 17 00:00:00 2001
From: jean_patrick_mathes <uomnk@student.kit.edu>
Date: Wed, 20 Jul 2022 12:47:20 +0200
Subject: [PATCH] Replace modifying primitive meshes with scaling of the mesh
instance
---
.../arviz_godot/lib/avi/scene/Converter.cpp | 41 ++++++++++---------
.../lib/avi/scene/CubeElementNode.cpp | 22 ++++++----
.../lib/avi/scene/CubeElementNode.h | 9 ++--
.../lib/avi/scene/CylinderElementNode.cpp | 26 ++++++++----
.../lib/avi/scene/CylinderElementNode.h | 8 ++--
.../lib/avi/scene/CylindroidElementNode.cpp | 20 +++++----
.../lib/avi/scene/CylindroidElementNode.h | 10 ++---
.../lib/avi/scene/EllipsoidElementNode.cpp | 32 +++++++++------
.../lib/avi/scene/EllipsoidElementNode.h | 7 ++--
.../lib/avi/scene/MeshElementNode.cpp | 9 +++-
.../lib/avi/scene/MeshElementNode.h | 1 +
.../lib/avi/scene/SphereElementNode.cpp | 22 ++++++----
.../lib/avi/scene/SphereElementNode.h | 8 ++--
13 files changed, 130 insertions(+), 85 deletions(-)
diff --git a/source/arviz_godot/lib/avi/scene/Converter.cpp b/source/arviz_godot/lib/avi/scene/Converter.cpp
index a919eb43..1ffc6f7a 100644
--- a/source/arviz_godot/lib/avi/scene/Converter.cpp
+++ b/source/arviz_godot/lib/avi/scene/Converter.cpp
@@ -156,52 +156,53 @@ avi::scene::Converter::createElement(avi::scene::LayerNode* layer,
{
case connection::SentElementType::BOX:
{
- godot::CubeMesh* mesh = godot::CubeMesh::_new();
- avi::scene::CubeElementNode* boxNode = avi::scene::CubeElementNode::newCubeElementNode(
- mesh, avi::connection::SentElementType::BOX, elementInfo->id, layer);
+ avi::scene::CubeElementNode* boxNode =
+ avi::scene::CubeElementNode::newCubeElementNode(elementInfo->id, layer);
boxNode->update(elementInfo);
+ boxNode->setShapeFromMesh();
+
created = boxNode;
- boxNode->setShape(mesh);
+
break;
}
case connection::SentElementType::SPHERE:
{
- godot::SphereMesh* mesh = godot::SphereMesh::_new();
avi::scene::MeshElementNode* sphereNode =
- avi::scene::SphereElementNode::newSphereElementNode(
- mesh, avi::connection::SentElementType::SPHERE, elementInfo->id, layer);
+ avi::scene::SphereElementNode::newSphereElementNode(elementInfo->id, layer);
sphereNode->update(elementInfo);
+ sphereNode->setShapeFromMesh();
+
created = sphereNode;
- sphereNode->setShape(mesh);
+
break;
}
case connection::SentElementType::CYLINDER:
{
- godot::CylinderMesh* mesh = godot::CylinderMesh::_new();
avi::scene::MeshElementNode* cylinderNode =
- avi::scene::CylinderElementNode::newCylinderElementNode(
- mesh, avi::connection::SentElementType::CYLINDER, elementInfo->id, layer);
+ avi::scene::CylinderElementNode::newCylinderElementNode(elementInfo->id, layer);
cylinderNode->update(elementInfo);
+ cylinderNode->setShapeFromMesh();
+
created = cylinderNode;
- cylinderNode->setShape(mesh);
+
break;
}
case connection::SentElementType::ELLIPSOID:
{
- godot::SphereMesh* mesh = godot::SphereMesh::_new();
avi::scene::MeshElementNode* ellipsoidNode =
- avi::scene::EllipsoidElementNode::newEllipsoidElementNode(
- mesh, avi::connection::SentElementType::ELLIPSOID, elementInfo->id, layer);
+ avi::scene::EllipsoidElementNode::newEllipsoidElementNode(elementInfo->id, layer);
ellipsoidNode->update(elementInfo);
+ ellipsoidNode->setShapeFromMesh();
+
created = ellipsoidNode;
- ellipsoidNode->setShape(mesh);
+
break;
}
@@ -209,14 +210,14 @@ avi::scene::Converter::createElement(avi::scene::LayerNode* layer,
{
auto cylindroid =
IceInternal::Handle<armarx::viz::data::ElementCylindroid>::dynamicCast(elementInfo);
- godot::CylinderMesh* mesh = godot::CylinderMesh::_new();
avi::scene::CylindroidElementNode* cylindroidNode =
- avi::scene::CylindroidElementNode::newCylindroidElementNode(
- mesh, avi::connection::SentElementType::CYLINDROID, cylindroid->id, layer);
+ avi::scene::CylindroidElementNode::newCylindroidElementNode(cylindroid->id, layer);
cylindroidNode->update(elementInfo);
+ cylindroidNode->setShapeFromMesh();
+
created = cylindroidNode;
- cylindroidNode->setShape(mesh);
+
break;
}
diff --git a/source/arviz_godot/lib/avi/scene/CubeElementNode.cpp b/source/arviz_godot/lib/avi/scene/CubeElementNode.cpp
index 13f57f03..f702d417 100644
--- a/source/arviz_godot/lib/avi/scene/CubeElementNode.cpp
+++ b/source/arviz_godot/lib/avi/scene/CubeElementNode.cpp
@@ -1,5 +1,8 @@
#include "CubeElementNode.h"
+#include <utility>
+
+#include <arviz_godot/lib/avi/core/Utilities.h>
#include <arviz_godot/lib/avi/scene/Converter.h>
void
@@ -22,8 +25,14 @@ void
avi::scene::CubeElementNode::update(IceInternal::Handle<armarx::viz::data::Element> elementInfo)
{
auto box = IceInternal::Handle<armarx::viz::data::ElementBox>::dynamicCast(elementInfo);
- auto* mesh = godot::Object::cast_to<godot::CubeMesh>(getMesh());
- mesh->set_size(godot::Vector3(box->size.e0, box->size.e1, box->size.e2));
+
+ godot::Vector3 newSize = {box->size.e0, box->size.e1, box->size.e2};
+ if (!avi::core::utilities::is_equal_approx(size, newSize))
+ {
+ size = newSize;
+ getMeshInstance()->set_scale(size / 2);
+ }
+
updateAttributes(box->interaction.enableFlags,
box->interaction.contextMenuOptions,
avi::scene::Converter::getPosition(box->pose),
@@ -33,13 +42,12 @@ avi::scene::CubeElementNode::update(IceInternal::Handle<armarx::viz::data::Eleme
}
avi::scene::CubeElementNode*
-avi::scene::CubeElementNode::newCubeElementNode(godot::Mesh* mesh,
- avi::connection::SentElementType type,
- std::string name,
- avi::core::Layer* layer)
+avi::scene::CubeElementNode::newCubeElementNode(std::string name, avi::core::Layer* layer)
{
CubeElementNode* node = CubeElementNode::_new();
- node->setStartAttributes(mesh, type, name, layer);
+ godot::Mesh* mesh = godot::CubeMesh::_new();
+
+ node->setStartAttributes(mesh, avi::connection::SentElementType::BOX, std::move(name), layer);
return node;
}
diff --git a/source/arviz_godot/lib/avi/scene/CubeElementNode.h b/source/arviz_godot/lib/avi/scene/CubeElementNode.h
index cdd828da..c893d560 100644
--- a/source/arviz_godot/lib/avi/scene/CubeElementNode.h
+++ b/source/arviz_godot/lib/avi/scene/CubeElementNode.h
@@ -18,11 +18,12 @@ namespace avi::scene
void _init();
- static CubeElementNode* newCubeElementNode(godot::Mesh* mesh,
- avi::connection::SentElementType type,
- std::string name,
- avi::core::Layer* layer);
+ static avi::scene::CubeElementNode* newCubeElementNode(std::string name,
+ avi::core::Layer* layer);
void update(IceInternal::Handle<armarx::viz::data::Element> elementInfo) override;
+
+ private:
+ godot::Vector3 size;
};
} // namespace avi::scene
diff --git a/source/arviz_godot/lib/avi/scene/CylinderElementNode.cpp b/source/arviz_godot/lib/avi/scene/CylinderElementNode.cpp
index 2b36c490..4389c68c 100644
--- a/source/arviz_godot/lib/avi/scene/CylinderElementNode.cpp
+++ b/source/arviz_godot/lib/avi/scene/CylinderElementNode.cpp
@@ -1,5 +1,7 @@
#include "CylinderElementNode.h"
+#include <utility>
+
#include "Converter.h"
void
@@ -23,10 +25,16 @@ avi::scene::CylinderElementNode::update(IceInternal::Handle<armarx::viz::data::E
{
auto cylinder =
IceInternal::Handle<armarx::viz::data::ElementCylinder>::dynamicCast(elementInfo);
- auto* mesh = godot::Object::cast_to<godot::CylinderMesh>(getMesh());
- mesh->set_height(cylinder->height);
- mesh->set_top_radius(cylinder->radius);
- mesh->set_bottom_radius(cylinder->radius);
+
+ if (!godot::Math::is_equal_approx(height, cylinder->height) ||
+ !godot::Math::is_equal_approx(radius, cylinder->radius))
+ {
+ radius = cylinder->radius;
+ height = cylinder->height;
+
+ getMeshInstance()->set_scale({radius, height / 2, radius});
+ }
+
updateAttributes(cylinder->interaction.enableFlags,
cylinder->interaction.contextMenuOptions,
avi::scene::Converter::getPosition(cylinder->pose),
@@ -36,12 +44,12 @@ avi::scene::CylinderElementNode::update(IceInternal::Handle<armarx::viz::data::E
}
avi::scene::CylinderElementNode*
-avi::scene::CylinderElementNode::newCylinderElementNode(godot::Mesh* mesh,
- avi::connection::SentElementType type,
- std::string name,
- avi::core::Layer* layer)
+avi::scene::CylinderElementNode::newCylinderElementNode(std::string name, avi::core::Layer* layer)
{
CylinderElementNode* node = CylinderElementNode::_new();
- node->setStartAttributes(mesh, type, name, layer);
+ godot::Mesh* mesh = godot::CylinderMesh::_new();
+
+ node->setStartAttributes(
+ mesh, avi::connection::SentElementType::CYLINDER, std::move(name), layer);
return node;
}
diff --git a/source/arviz_godot/lib/avi/scene/CylinderElementNode.h b/source/arviz_godot/lib/avi/scene/CylinderElementNode.h
index 5bc09f80..e5fa3630 100644
--- a/source/arviz_godot/lib/avi/scene/CylinderElementNode.h
+++ b/source/arviz_godot/lib/avi/scene/CylinderElementNode.h
@@ -18,11 +18,13 @@ namespace avi::scene
void _init();
- static CylinderElementNode* newCylinderElementNode(godot::Mesh* mesh,
- avi::connection::SentElementType type,
- std::string name,
+ static CylinderElementNode* newCylinderElementNode(std::string name,
avi::core::Layer* layer);
void update(IceInternal::Handle<armarx::viz::data::Element> elementInfo) override;
+
+ private:
+ float height = 0.0f;
+ float radius = 0.0f;
};
} // namespace avi::scene
diff --git a/source/arviz_godot/lib/avi/scene/CylindroidElementNode.cpp b/source/arviz_godot/lib/avi/scene/CylindroidElementNode.cpp
index 32c5a898..f8dfde10 100644
--- a/source/arviz_godot/lib/avi/scene/CylindroidElementNode.cpp
+++ b/source/arviz_godot/lib/avi/scene/CylindroidElementNode.cpp
@@ -24,10 +24,14 @@ avi::scene::CylindroidElementNode::update(
{
auto cylindroid =
IceInternal::Handle<armarx::viz::data::ElementCylindroid>::dynamicCast(elementInfo);
- auto* mesh = godot::Object::cast_to<godot::CylinderMesh>(getMesh());
- mesh->set_height(cylindroid->height);
- mesh->set_top_radius(1);
- mesh->set_bottom_radius(1);
+
+ if (!godot::Math::is_equal_approx(height, cylindroid->height))
+ {
+ height = cylindroid->height;
+
+ getMeshInstance()->set_scale({1, height / 2, 1});
+ }
+
updateAttributes(cylindroid->interaction.enableFlags,
cylindroid->interaction.contextMenuOptions,
avi::scene::Converter::getPosition(cylindroid->pose),
@@ -37,12 +41,12 @@ avi::scene::CylindroidElementNode::update(
}
avi::scene::CylindroidElementNode*
-avi::scene::CylindroidElementNode::newCylindroidElementNode(godot::Mesh* mesh,
- avi::connection::SentElementType type,
- std::string name,
+avi::scene::CylindroidElementNode::newCylindroidElementNode(std::string name,
avi::core::Layer* layer)
{
CylindroidElementNode* node = CylindroidElementNode::_new();
- node->setStartAttributes(mesh, type, name, layer);
+ godot::Mesh* mesh = godot::CylinderMesh::_new();
+
+ node->setStartAttributes(mesh, avi::connection::SentElementType::CYLINDROID, name, layer);
return node;
}
diff --git a/source/arviz_godot/lib/avi/scene/CylindroidElementNode.h b/source/arviz_godot/lib/avi/scene/CylindroidElementNode.h
index f098f7a9..773f29b9 100644
--- a/source/arviz_godot/lib/avi/scene/CylindroidElementNode.h
+++ b/source/arviz_godot/lib/avi/scene/CylindroidElementNode.h
@@ -18,12 +18,12 @@ namespace avi::scene
void _init();
- static CylindroidElementNode*
- newCylindroidElementNode(godot::Mesh* mesh,
- avi::connection::SentElementType type,
- std::string name,
- avi::core::Layer* layer);
+ static CylindroidElementNode* newCylindroidElementNode(std::string name,
+ avi::core::Layer* layer);
void update(IceInternal::Handle<armarx::viz::data::Element> elementInfo) override;
+
+ private:
+ float height = 0.0f;
};
} // namespace avi::scene
diff --git a/source/arviz_godot/lib/avi/scene/EllipsoidElementNode.cpp b/source/arviz_godot/lib/avi/scene/EllipsoidElementNode.cpp
index 9bb8eb96..8f2aa640 100644
--- a/source/arviz_godot/lib/avi/scene/EllipsoidElementNode.cpp
+++ b/source/arviz_godot/lib/avi/scene/EllipsoidElementNode.cpp
@@ -1,5 +1,6 @@
#include "EllipsoidElementNode.h"
+#include <arviz_godot/lib/avi/core/Utilities.h>
#include <arviz_godot/lib/avi/scene/Converter.h>
void
@@ -24,29 +25,34 @@ avi::scene::EllipsoidElementNode::update(
{
auto ellipsoid =
IceInternal::Handle<armarx::viz::data::ElementEllipsoid>::dynamicCast(elementInfo);
- auto* mesh = godot::Object::cast_to<godot::SphereMesh>(getMesh());
- mesh->set_height(2);
- mesh->set_radius(1);
- armarx::Vector3f scale = ellipsoid->scale;
- godot::Vector3 meshScale = {
+
+ godot::Vector3 newScale = {
ellipsoid->axisLengths.e0, ellipsoid->axisLengths.e1, ellipsoid->axisLengths.e2};
- godot::MeshInstance* meshInstance = getMeshInstance();
- meshInstance->set_scale(meshScale);
+
+ if (!avi::core::utilities::is_equal_approx(scale, newScale))
+ {
+ scale = newScale;
+ getMeshInstance()->set_scale(scale);
+ }
+
updateAttributes(ellipsoid->interaction.enableFlags,
ellipsoid->interaction.contextMenuOptions,
avi::scene::Converter::getPosition(ellipsoid->pose),
- avi::scene::Converter::getScale(scale),
+ avi::scene::Converter::getScale(ellipsoid->scale),
avi::scene::Converter::getRotation(ellipsoid->pose),
avi::scene::Converter::getColor(ellipsoid->color));
}
avi::scene::EllipsoidElementNode*
-avi::scene::EllipsoidElementNode::newEllipsoidElementNode(godot::Mesh* mesh,
- avi::connection::SentElementType type,
- std::string name,
- avi::core::Layer* layer)
+avi::scene::EllipsoidElementNode::newEllipsoidElementNode(std::string name, avi::core::Layer* layer)
{
EllipsoidElementNode* node = EllipsoidElementNode::_new();
- node->setStartAttributes(mesh, type, name, layer);
+ godot::SphereMesh* mesh = godot::SphereMesh::_new();
+
+ mesh->set_height(2);
+ mesh->set_radius(1);
+
+ node->setStartAttributes(mesh, avi::connection::SentElementType::ELLIPSOID, name, layer);
+
return node;
}
diff --git a/source/arviz_godot/lib/avi/scene/EllipsoidElementNode.h b/source/arviz_godot/lib/avi/scene/EllipsoidElementNode.h
index 23488d23..9524d002 100644
--- a/source/arviz_godot/lib/avi/scene/EllipsoidElementNode.h
+++ b/source/arviz_godot/lib/avi/scene/EllipsoidElementNode.h
@@ -18,11 +18,12 @@ namespace avi::scene
void _init();
- static EllipsoidElementNode* newEllipsoidElementNode(godot::Mesh* mesh,
- avi::connection::SentElementType type,
- std::string name,
+ static EllipsoidElementNode* newEllipsoidElementNode(std::string name,
avi::core::Layer* layer);
void update(IceInternal::Handle<armarx::viz::data::Element> elementInfo) override;
+
+ private:
+ godot::Vector3 scale;
};
} // namespace avi::scene
diff --git a/source/arviz_godot/lib/avi/scene/MeshElementNode.cpp b/source/arviz_godot/lib/avi/scene/MeshElementNode.cpp
index f7ab3a6f..b1b834f7 100644
--- a/source/arviz_godot/lib/avi/scene/MeshElementNode.cpp
+++ b/source/arviz_godot/lib/avi/scene/MeshElementNode.cpp
@@ -18,7 +18,7 @@ avi::scene::MeshElementNode::getVolume()
{
godot::AABB correctedAABB = meshInstance->get_aabb();
correctedAABB.position = staticBody->get_transform().origin;
- correctedAABB.size = correctedAABB.size * staticBody->get_scale() * 0.5;
+ correctedAABB.size *= staticBody->get_scale() * meshInstance->get_scale() * 0.5;
return correctedAABB;
}
@@ -150,6 +150,12 @@ avi::scene::MeshElementNode::setShape(godot::Mesh* mesh)
collisionShape->set_scale(meshInstance->get_scale());
}
+void
+avi::scene::MeshElementNode::setShapeFromMesh()
+{
+ setShape(getMesh());
+}
+
godot::Transform
avi::scene::MeshElementNode::getTransform()
{
@@ -172,3 +178,4 @@ avi::scene::MeshElementNode::getMeshInstance()
{
return meshInstance;
}
+
diff --git a/source/arviz_godot/lib/avi/scene/MeshElementNode.h b/source/arviz_godot/lib/avi/scene/MeshElementNode.h
index ada8c4dd..8c9b555d 100644
--- a/source/arviz_godot/lib/avi/scene/MeshElementNode.h
+++ b/source/arviz_godot/lib/avi/scene/MeshElementNode.h
@@ -37,6 +37,7 @@ namespace avi::scene
void setMesh(godot::Mesh* mesh);
void setShape(godot::Mesh* mesh);
+ void setShapeFromMesh();
godot::Vector3 getPosition();
diff --git a/source/arviz_godot/lib/avi/scene/SphereElementNode.cpp b/source/arviz_godot/lib/avi/scene/SphereElementNode.cpp
index 478e4a9e..a2d074d2 100644
--- a/source/arviz_godot/lib/avi/scene/SphereElementNode.cpp
+++ b/source/arviz_godot/lib/avi/scene/SphereElementNode.cpp
@@ -23,9 +23,16 @@ void
avi::scene::SphereElementNode::update(IceInternal::Handle<armarx::viz::data::Element> elementInfo)
{
auto sphere = IceInternal::Handle<armarx::viz::data::ElementSphere>::dynamicCast(elementInfo);
- auto* mesh = godot::Object::cast_to<godot::SphereMesh>(getMesh());
- mesh->set_radius(sphere->radius);
- mesh->set_height(2 * sphere->radius);
+
+ float newRadius = sphere->radius;
+
+ if (!godot::Math::is_equal_approx(radius, newRadius))
+ {
+ radius = newRadius;
+
+ getMeshInstance()->set_scale({radius, radius, radius});
+ }
+
updateAttributes(sphere->interaction.enableFlags,
sphere->interaction.contextMenuOptions,
avi::scene::Converter::getPosition(sphere->pose),
@@ -35,13 +42,12 @@ avi::scene::SphereElementNode::update(IceInternal::Handle<armarx::viz::data::Ele
}
avi::scene::SphereElementNode*
-avi::scene::SphereElementNode::newSphereElementNode(godot::Mesh* mesh,
- avi::connection::SentElementType type,
- std::string name,
- avi::core::Layer* layer)
+avi::scene::SphereElementNode::newSphereElementNode(std::string name, avi::core::Layer* layer)
{
SphereElementNode* node = SphereElementNode::_new();
- node->setStartAttributes(mesh, type, name, layer);
+ godot::Mesh* mesh = godot::SphereMesh::_new();
+
+ node->setStartAttributes(mesh, avi::connection::SentElementType::SPHERE, name, layer);
return node;
}
diff --git a/source/arviz_godot/lib/avi/scene/SphereElementNode.h b/source/arviz_godot/lib/avi/scene/SphereElementNode.h
index c11ea6bd..2fe61243 100644
--- a/source/arviz_godot/lib/avi/scene/SphereElementNode.h
+++ b/source/arviz_godot/lib/avi/scene/SphereElementNode.h
@@ -17,11 +17,11 @@ namespace avi::scene
void _init();
- static SphereElementNode* newSphereElementNode(godot::Mesh* mesh,
- avi::connection::SentElementType type,
- std::string name,
- avi::core::Layer* layer);
+ static SphereElementNode* newSphereElementNode(std::string name, avi::core::Layer* layer);
void update(IceInternal::Handle<armarx::viz::data::Element> elementInfo) override;
+
+ private:
+ float radius = 0.0f;
};
} // namespace avi::scene
--
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