Merge branch 'fix/arrow-circle-ori' into 'master'

Fix/arrow circle ori

See merge request !328

source/RobotAPI/components/ArViz/Client/Elements.cpp

@@ -107,9 +107,9 @@ namespace armarx::viz
         float angle = std::acos(naturalDir.dot(dir));
         if (cross.squaredNorm() < 1.0e-12f)
         {
-            // Directions are almost colinear ==> Do no rotation
+            // Directions are almost colinear ==> Angle is either 0 or 180 deg
             cross = Eigen::Vector3f::UnitX();
-            angle = 0.0f;
+            // Keep angle
         }
         Eigen::Vector3f axis = cross.normalized();
         Eigen::Quaternionf ori(Eigen::AngleAxisf(angle, axis));

source/RobotAPI/components/ArViz/Example/ArVizExample.cpp

@@ -275,13 +275,18 @@ namespace armarx
 
     void fillExampleLayer(viz::Layer& layer, double timeInSeconds)
     {
+        for (int i = 0; i < 6; ++i)
         {
-            Eigen::Vector3f pos = Eigen::Vector3f::Zero();
-            pos.z() = +300.0f;
+            Eigen::Vector3f pos = Eigen::Vector3f(-200.0, 200.0, 300);
+            pos.x() +=  -300 * i;
+
+            Eigen::Vector3f normal = Eigen::Vector3f::Zero();
+            normal(i / 2) = (i % 2 == 0 ? 1.0 : -1.0);
 
-            viz::ArrowCircle circle = viz::ArrowCircle("circle")
+            viz::ArrowCircle circle = viz::ArrowCircle("circle " + std::to_string(i))
                                       .position(pos)
                                       .radius(100.0f)
+                                      .normal(normal)
                                       .width(10.0f)
                                       .color(viz::Color::fromRGBA(255, 0, 255));