ArViz Performance: Do not create new nodes on every update call

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

@@ -4,8 +4,9 @@
 
 #include <RobotAPI/interface/ArViz/Elements.h>
 
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.h>
+#include <Inventor/nodes/SoComplexity.h>
+#include <Inventor/nodes/SoScale.h>
+#include <Inventor/nodes/SoSphere.h>
 
 namespace armarx::viz::coin
 {
@@ -13,43 +14,33 @@ namespace armarx::viz::coin
     {
         using ElementType = data::ElementEllipsoid;
 
+        VisualizationEllipsoid()
+        {
+            complexity = new SoComplexity();
+            complexity->type.setValue(SoComplexity::OBJECT_SPACE);
+            complexity->value.setValue(1.0f);
+
+            scale = new SoScale;
+
+            sphere = new SoSphere();
+            // We create a unit sphere and create an ellipsoid through scaling
+            sphere->radius.setValue(1.0f);
+
+            node->addChild(complexity);
+            node->addChild(scale);
+            node->addChild(sphere);
+        }
+
         bool update(ElementType const& element)
         {
-            auto color = element.color;
-            constexpr float conv = 1.0f / 255.0f;
-            const float r = color.r * conv;
-            const float g = color.g * conv;
-            const float b = color.b * conv;
-            const float a = color.a * conv;
-
-            VirtualRobot::VisualizationNodePtr ellipsoid_node;
-            {
-                // Params.
-                SoMaterial* mat = new SoMaterial;
-                mat->diffuseColor.setValue(r, g, b);
-                mat->ambientColor.setValue(r, g, b);
-                mat->transparency.setValue(1. - a);
-                const bool show_axes = false;  // Do not show axes.  If needed, draw a Pose instead.
-
-                SoSeparator* res = new SoSeparator();
-                res->ref();
-                SoUnits* u = new SoUnits();
-                u->units = SoUnits::MILLIMETERS;
-                res->addChild(u);
-                res->addChild(VirtualRobot::CoinVisualizationFactory::CreateEllipse(
-                                  element.axisLengths.e0, element.axisLengths.e1,
-                                  element.axisLengths.e2, mat, show_axes));
-                ellipsoid_node.reset(new VirtualRobot::CoinVisualizationNode(res));
-                res->unref();
-            }
-
-            SoNode* ellipsoid = dynamic_cast<VirtualRobot::CoinVisualizationNode&>(
-                                    *ellipsoid_node).getCoinVisualization();
-
-            node->removeAllChildren();
-            node->addChild(ellipsoid);
+            scale->scaleFactor.setValue(element.axisLengths.e0, element.axisLengths.e1, element.axisLengths.e2);
 
             return true;
         }
+
+        SoMaterial* material = nullptr;
+        SoComplexity* complexity = nullptr;
+        SoScale* scale = nullptr;
+        SoSphere* sphere = nullptr;
     };
 }