From c4e24369a0cf96442ec159d20737d6acb30ecbfe Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 11 Jun 2021 07:24:14 +0200
Subject: [PATCH] Arviz Path visu: added points that will be drawn in corners
---
.../ArViz/Coin/VisualizationPath.cpp | 40 +++++++++++++++++--
.../components/ArViz/Coin/VisualizationPath.h | 8 ++++
2 files changed, 45 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationPath.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationPath.cpp
index 3018a3af5..a0190abd7 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationPath.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationPath.cpp
@@ -1,9 +1,12 @@
#include "VisualizationPath.h"
+#include <algorithm>
+
#include <Inventor/SbVec3f.h>
#include <Inventor/nodes/SoCoordinate3.h>
#include <Inventor/nodes/SoDrawStyle.h>
#include <Inventor/nodes/SoLineSet.h>
+#include <Inventor/nodes/SoPointSet.h>
namespace armarx::viz::coin
{
@@ -27,19 +30,36 @@ namespace armarx::viz::coin
node->addChild(coordinate3);
node->addChild(lineSep);
+
+ // points (use the following, if the points should be drawn in a different color)
+
+ // pclMat = new SoMaterial;
+
+ // SoMaterialBinding* pclMatBind = new SoMaterialBinding;
+ // pclMatBind->value = SoMaterialBinding::PER_PART;
+
+ pclCoords = new SoCoordinate3;
+ pclStyle = new SoDrawStyle;
+
+ // node->addChild(pclMat);
+ // node->addChild(pclMatBind);
+ node->addChild(pclCoords);
+ node->addChild(pclStyle);
+ node->addChild(new SoPointSet);
}
bool VisualizationPath::update(ElementType const& element)
{
// set position
- coordinate3->point.setValuesPointer(element.points.size(), reinterpret_cast<const float*>(element.points.data()));
+ coordinate3->point.setValuesPointer(element.points.size(),
+ reinterpret_cast<const float*>(element.points.data()));
// set color
- const auto lineColor = element.lineColor;
+ const auto lineColor = element.color;
constexpr float toUnit = 1.0F / 255.0F;
- const auto color = SbVec3f(lineColor.r, lineColor.g, lineColor.b) * toUnit;
+ const auto color = SbVec3f(lineColor.r, lineColor.g, lineColor.b) * toUnit;
const float transparency = 1.0F - static_cast<float>(lineColor.a) * toUnit;
lineMaterial->diffuseColor.setValue(color);
@@ -58,6 +78,20 @@ namespace armarx::viz::coin
const int pointSize = static_cast<int>(element.points.size());
lineSet->numVertices.set1Value(0, pointSize);
+ // points at each node
+ // const std::vector<SbVec3f> colorData(element.points.size(), color);
+
+ // pclMat->diffuseColor.setValuesPointer(colorData.size(),
+ // reinterpret_cast<const float*>(colorData.data()));
+ // pclMat->ambientColor.setValuesPointer(colorData.size(),
+ // reinterpret_cast<const float*>(colorData.data()));
+ // pclMat->transparency = transparency;
+
+ pclCoords->point.setValuesPointer(element.points.size(),
+ reinterpret_cast<const float*>(element.points.data()));
+
+ pclStyle->pointSize = element.lineWidth + 5;
+
return true;
}
} // namespace armarx::viz::coin
\ No newline at end of file
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationPath.h b/source/RobotAPI/components/ArViz/Coin/VisualizationPath.h
index e1e446bbe..487ee9df5 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationPath.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationPath.h
@@ -39,9 +39,17 @@ namespace armarx::viz::coin
bool update(ElementType const& element);
+ /// lines
SoCoordinate3* coordinate3;
SoDrawStyle* lineStyle;
SoLineSet* lineSet;
SoMaterial* lineMaterial;
+
+
+ /// points
+ // SoMaterial* pclMat;
+ SoCoordinate3* pclCoords;
+ SoDrawStyle* pclStyle;
+
};
} // namespace armarx::viz::coin
--
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