Optimize mesh visualizer

source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h

@@ -40,6 +40,13 @@ namespace armarx::viz::coin
         SoMaterial* materials;
         SoCoordinate3* coords;
         SoIndexedFaceSet* faceSet;
+
+        std::vector<SbColor> matAmb;
+        std::vector<SbColor> matDif;
+        std::vector<float> transp;
+        std::vector<SbVec3f> vertexPositions;
+        std::vector<int32_t> faces;
+        std::vector<int32_t> matInx;
     };
 
     struct VisualizerMesh: TypedElementVisualizer<VisualizerMesh, ElementMesh, VisuDataMesh>
@@ -52,10 +59,12 @@ namespace armarx::viz::coin
             {
                 colorSize = 1;
             }
-            // TODO: Optimize these temporary arrays away
-            std::vector<SbColor> matAmb(colorSize);
-            std::vector<SbColor> matDif(colorSize);
-            std::vector<float> transp(colorSize);
+            auto& matAmb = data->matAmb;
+            auto& matDif = data->matDif;
+            auto& transp = data->transp;
+            matAmb.resize(colorSize);
+            matDif.resize(colorSize);
+            transp.resize(colorSize);
 
             const float conv = 1.0f / 255.0f;
             if (noColorsArray)
@@ -85,14 +94,15 @@ namespace armarx::viz::coin
             }
 
             // Define colors for the faces
-            SoMaterial* myMaterials = data->materials;
-            myMaterials->diffuseColor.setValues(0, colorSize, matDif.data());
-            myMaterials->ambientColor.setValues(0, colorSize, matAmb.data());
-            myMaterials->transparency.setValues(0, colorSize, transp.data());
+            SoMaterial* materials = data->materials;
+            materials->diffuseColor.setValuesPointer(colorSize, matDif.data());
+            materials->ambientColor.setValuesPointer(colorSize, matAmb.data());
+            materials->transparency.setValuesPointer(colorSize, transp.data());
 
             // define vertex array
             int vertexSize = (int)element.vertices.size();
-            std::vector<SbVec3f> vertexPositions(vertexSize);
+            auto& vertexPositions = data->vertexPositions;
+            vertexPositions.resize(vertexSize);
             for (int i = 0; i < vertexSize; i++)
             {
                 auto v = element.vertices[i];
@@ -100,11 +110,13 @@ namespace armarx::viz::coin
             }
 
             // Define coordinates for vertices
-            data->coords->point.setValues(0, vertexSize, vertexPositions.data());
+            data->coords->point.setValuesPointer(vertexSize, vertexPositions.data());
 
             int facesSize = (int)element.faces.size();
-            std::vector<int32_t> faces(facesSize * 4);
-            std::vector<int32_t> matInx(facesSize * 4);
+            auto& faces = data->faces;
+            faces.resize(facesSize * 4);
+            auto& matInx = data->matInx;
+            matInx.resize(facesSize * 4);
 
             for (int i = 0; i < facesSize; i++)
             {
@@ -122,8 +134,8 @@ namespace armarx::viz::coin
             }
 
             SoIndexedFaceSet* myFaceSet = data->faceSet;
-            myFaceSet->coordIndex.setValues(0, faces.size(), faces.data());
-            myFaceSet->materialIndex.setValues(0, matInx.size(), matInx.data());
+            myFaceSet->coordIndex.setValuesPointer(faces.size(), faces.data());
+            myFaceSet->materialIndex.setValuesPointer(matInx.size(), matInx.data());
         }
     };
 }