From 8e09bdbb67cdfc448b07494b17fa3957a7592788 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 10 Oct 2019 10:55:40 +0200
Subject: [PATCH] Fix circle arrow visu
---
.../ArViz/Coin/VisualizerArrowCircle.h | 16 +++++++++-------
.../components/ArVizExample/ArVizExample.cpp | 2 +-
2 files changed, 10 insertions(+), 8 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerArrowCircle.h b/source/RobotAPI/components/ArViz/Coin/VisualizerArrowCircle.h
index fe5cc9027..36ddd945e 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerArrowCircle.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerArrowCircle.h
@@ -35,14 +35,14 @@ namespace armarx::viz::coin
}
auto color = element.color;
const float conv = 1.0f / 255.0f;
- color.r *= conv;
- color.g *= conv;
- color.b *= conv;
- color.a *= conv;
- // This does not play well with
+ float r = color.r * conv;
+ float g = color.g * conv;
+ float b = color.b * conv;
+ float a = color.a * conv;
+
auto torusNode = VirtualRobot::CoinVisualizationFactory().createTorus(
element.radius, element.width, torusCompletion,
- color.r, color.g, color.b, 0.0f,
+ r, g, b, 1.0f - a,
8, rings);
SoNode* torus = dynamic_cast<VirtualRobot::CoinVisualizationNode&>(*torusNode).getCoinVisualization();
@@ -59,7 +59,9 @@ namespace armarx::viz::coin
tr->rotation.setValue(SbVec3f(0, 0, 1), angle1);
subSep->addChild(tr);
- //subSep->addChild(CreateArrow(Eigen::Vector3f::UnitY()*sign, 0, element.width, Color(1.0f, 1.0f, 1.0f)));
+ subSep->addChild(VirtualRobot::CoinVisualizationFactory::CreateArrow(
+ Eigen::Vector3f::UnitY()*sign, 0, element.width,
+ VirtualRobot::VisualizationFactory::Color(r, g, b, 1.0f - a)));
node->removeAllChildren();
node->addChild(torus);
diff --git a/source/RobotAPI/components/ArVizExample/ArVizExample.cpp b/source/RobotAPI/components/ArVizExample/ArVizExample.cpp
index 3432c156b..64e7eaf80 100644
--- a/source/RobotAPI/components/ArVizExample/ArVizExample.cpp
+++ b/source/RobotAPI/components/ArVizExample/ArVizExample.cpp
@@ -196,7 +196,7 @@ void ArVizExample::update()
Eigen::Vector3f pos = Eigen::Vector3f::Zero();
pos.z() = +300.0f;
circle->pose = makeGlobalPose(pos, Eigen::Quaternionf::Identity());
- circle->color = armarx::viz::Color{255, 255, 0, 255};
+ circle->color = armarx::viz::Color{200, 255, 0, 255};
layer.elements.push_back(circle);
}
--
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