diff --git a/source/RobotAPI/components/ArViz/CMakeLists.txt b/source/RobotAPI/components/ArViz/CMakeLists.txt
index f3cdfc0f709b19c99471e1ecc64ed3396ea6653f..e765f4162f65e1daaff52551166e489a4f3cdd60 100644
--- a/source/RobotAPI/components/ArViz/CMakeLists.txt
+++ b/source/RobotAPI/components/ArViz/CMakeLists.txt
@@ -26,6 +26,7 @@ Coin/VisualizerPose.h
Coin/VisualizerLine.h
Coin/VisualizerText.h
Coin/VisualizerArrow.h
+Coin/VisualizerArrowCircle.h
Coin/Visualizer.h
)
diff --git a/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.cpp b/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.cpp
index b5223f6b815de51c910fb977c13581032090b359..455821397c7de106a3133fb0763c4f69817dbf60 100644
--- a/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.cpp
@@ -21,19 +21,19 @@ namespace armarx
result.transform = new SoTransform;
result.material = new SoMaterial;
- result.element = createElement_();
+ result.element.reset(createElement_());
result.seperator = new SoSeparator;
result.seperator->addChild(result.units);
result.seperator->addChild(result.transform);
result.seperator->addChild(result.material);
- result.seperator->addChild(result.element);
+ result.seperator->addChild(result.element->node_);
update(element, &result);
return result;
}
- void ElementVisualizer::update(Element const& element, ElementVisualization* visu)
+ bool ElementVisualizer::update(Element const& element, ElementVisualization* visu)
{
if (visu->transform)
{
@@ -53,8 +53,9 @@ namespace armarx
}
if (visu->element)
{
- updateElement_(element, visu->element);
+ return updateElement_(element, visu->element.get());
}
+ return false;
}
}
diff --git a/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h b/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
index 7326ced15c72daf5115cd91d54e05fd8a03feca3..d2db18926ec6977492dafa5d36d381148784dbcb 100644
--- a/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
@@ -5,6 +5,8 @@
#include <Inventor/nodes/SoUnits.h>
#include <Inventor/nodes/SoTransform.h>
+#include <memory>
+
namespace armarx
{
namespace viz
@@ -14,13 +16,33 @@ namespace armarx
namespace coin
{
+ struct ElementVisuData
+ {
+ virtual ~ElementVisuData() = default;
+
+ SoNode* node_ = nullptr;
+ };
+
+ template <typename NodeT>
+ struct TypedVisuData : ElementVisuData
+ {
+ TypedVisuData()
+ {
+ node_ = new NodeT;
+ }
+ NodeT* node()
+ {
+ return static_cast<NodeT*>(node_);
+ }
+ };
+
struct ElementVisualization
{
SoSeparator* seperator = nullptr;
SoUnits* units = nullptr;
SoTransform* transform = nullptr;
SoMaterial* material = nullptr;
- SoNode* element = nullptr;
+ std::unique_ptr<ElementVisuData> element;
};
class ElementVisualizer
@@ -29,32 +51,33 @@ namespace armarx
virtual ~ElementVisualizer() = default;
virtual ElementVisualization create(Element const& element) final;
- virtual void update(Element const& element, ElementVisualization* visu) final;
+ virtual bool update(Element const& element, ElementVisualization* visu) final;
- virtual SoNode* createElement_() = 0;
- virtual void updateElement_(Element const& element, SoNode* node) = 0;
+ virtual ElementVisuData* createElement_() = 0;
+ virtual bool updateElement_(Element const& element, ElementVisuData* data) = 0;
};
- template <typename BaseT, typename ElementT, typename NodeT>
+ template <typename BaseT, typename ElementT, typename DataT>
class TypedElementVisualizer : public ElementVisualizer
{
public:
using ElementType = ElementT;
- using NodeType = NodeT;
+ using DataType = DataT;
- SoNode* createElement_() override
+ DataType* createElement_() override
{
- return new NodeT;
+ return new DataType;
}
- void updateElement_(Element const& element_, SoNode* node_)
+ bool updateElement_(Element const& element_, ElementVisuData* data_) override
{
auto const& element = static_cast<ElementType const&>(element_);
- auto* node = dynamic_cast<NodeType*>(node_);
- if (node)
+ auto* data = dynamic_cast<DataType*>(data_);
+ if (data)
{
- static_cast<BaseT*>(this)->updateElement(element, node);
+ static_cast<BaseT*>(this)->updateElement(element, data);
}
+ return data != nullptr;
}
};
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index a038cb8a8111fdcd791268e05884e699c67f7a3c..f44a31738783ad0ac574d153887e37b599204093 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -7,6 +7,7 @@
#include "VisualizerLine.h"
#include "VisualizerText.h"
#include "VisualizerArrow.h"
+#include "VisualizerArrowCircle.h"
#include <ArmarXCore/core/logging/Logging.h>
@@ -53,6 +54,7 @@ namespace armarx
registerVisualizer<VisualizerLine>();
registerVisualizer<VisualizerText>();
registerVisualizer<VisualizerArrow>();
+ registerVisualizer<VisualizerArrowCircle>();
root = new SoSeparator;
@@ -114,7 +116,7 @@ namespace armarx
CoinLayer newLayer;
newLayer.node = coinNode;
- layerIt = layers.emplace(layerID, newLayer).first;
+ layerIt = layers.emplace(layerID, std::move(newLayer)).first;
}
CoinLayer& layer = layerIt->second;
@@ -178,7 +180,7 @@ namespace armarx
if (elementVisu.seperator)
{
layer.node->addChild(elementVisu.seperator);
- layer.elements[updatedElement.id] = elementVisu;
+ layer.elements[updatedElement.id] = std::move(elementVisu);
}
else
{
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerArrow.h b/source/RobotAPI/components/ArViz/Coin/VisualizerArrow.h
index b00f9062874219f5fbc7cd3f2d665e94406b7227..d376e5cd9bcfe7a1bb30dd89b08e1d6909f32b12 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerArrow.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerArrow.h
@@ -8,63 +8,48 @@
#include <Inventor/nodes/SoSphere.h>
#include <Inventor/nodes/SoTranslation.h>
-namespace armarx
+namespace armarx::viz::coin
{
- namespace viz
+ struct VisuDataArrow : TypedVisuData<SoSeparator>
{
- namespace coin
+ VisuDataArrow()
{
+ tr = new SoTranslation;
+ c = new SoCylinder();
+ transl = new SoTranslation;
+ cone = new SoCone();
+
+ auto* sep = node();
+ sep->addChild(tr);
+ sep->addChild(c);
+ sep->addChild(transl);
+ sep->addChild(cone);
+ }
- struct VisualizerArrow: TypedElementVisualizer<VisualizerArrow, ElementArrow, SoSeparator>
- {
- void updateElement(ElementType const& element, NodeType* node)
- {
-
- float coneHeight = element.width * 6.0f;
- float coneBottomRadius = element.width * 2.5f;
- float baseLength = element.length - coneHeight;
- baseLength = std::max(0.0f, baseLength);
-
- // SbVec3f objNormal(n2(0), n2(1), n2(2));
- // SbMatrix objNormalTrafo;
- // objNormalTrafo.makeIdentity();
- // SbRotation objNormalRot(SbVec3f(0, 1.0f, 0), objNormal);
-
- // get rid of warnings when angle==0
- // SbVec3f axis;
- // float angle;
- // objNormalRot.getValue(axis, angle);
-
- // if (angle != 0)
- // {
- // objNormalTrafo.setRotate(objNormalRot);
- // }
-
-
- SoTranslation* tr = new SoTranslation;
- tr->translation.setValue(0, baseLength * 0.5f, 0);
-
-
- SoCylinder* c = new SoCylinder();
- c->radius = element.width;
- c->height = baseLength;
+ SoTranslation* tr;
+ SoCylinder* c;
+ SoTranslation* transl;
+ SoCone* cone;
+ };
+ struct VisualizerArrow : TypedElementVisualizer<VisualizerArrow, ElementArrow, VisuDataArrow>
+ {
+ void updateElement(ElementType const& element, DataType* data)
+ {
+ float coneHeight = element.width * 6.0f;
+ float coneBottomRadius = element.width * 2.5f;
+ float baseLength = element.length - coneHeight;
+ baseLength = std::max(0.0f, baseLength);
- SoTranslation* transl = new SoTranslation;
- transl->translation.setValue(0, element.length * 0.5f, 0);
+ data->tr->translation.setValue(0, baseLength * 0.5f, 0);
- SoCone* cone = new SoCone();
- cone->bottomRadius.setValue(coneBottomRadius);
- cone->height.setValue(coneHeight);
+ data->c->radius = element.width;
+ data->c->height = baseLength;
- node->removeAllChildren();
- node->addChild(tr);
- node->addChild(c);
- node->addChild(transl);
- node->addChild(cone);
- }
- };
+ data->transl->translation.setValue(0, element.length * 0.5f, 0);
+ data->cone->bottomRadius.setValue(coneBottomRadius);
+ data->cone->height.setValue(coneHeight);
}
- }
+ };
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerArrowCircle.h b/source/RobotAPI/components/ArViz/Coin/VisualizerArrowCircle.h
new file mode 100644
index 0000000000000000000000000000000000000000..fe5cc902755c63f1ef0a70c944c98d92caf95a47
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerArrowCircle.h
@@ -0,0 +1,70 @@
+#pragma once
+
+#include "ElementVisualizer.h"
+
+#include <RobotAPI/interface/ArViz/Elements.h>
+#include <Inventor/nodes/SoCone.h>
+#include <Inventor/nodes/SoCylinder.h>
+#include <Inventor/nodes/SoSphere.h>
+#include <Inventor/nodes/SoTranslation.h>
+
+#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
+#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.h>
+
+namespace armarx::viz::coin
+{
+ struct VisuDataArrowCircle : TypedVisuData<SoSeparator>
+ {
+
+ };
+
+ struct VisualizerArrowCircle: TypedElementVisualizer<VisualizerArrowCircle, ElementArrowCircle, VisuDataArrowCircle>
+ {
+ void updateElement(ElementType const& element, DataType* data)
+ {
+ auto* node = data->node();
+
+ int rings = 32;
+
+ float completion = std::min<float>(1.0f, std::max(-1.0f, element.completion));
+ int sign = completion >= 0 ? 1 : -1;
+ float torusCompletion = completion - 1.0f / rings * sign;
+ if (torusCompletion * sign < 0)
+ {
+ torusCompletion = 0;
+ }
+ 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
+ auto torusNode = VirtualRobot::CoinVisualizationFactory().createTorus(
+ element.radius, element.width, torusCompletion,
+ color.r, color.g, color.b, 0.0f,
+ 8, rings);
+ SoNode* torus = dynamic_cast<VirtualRobot::CoinVisualizationNode&>(*torusNode).getCoinVisualization();
+
+
+ float angle0 = (float)(rings - 2) / rings * 2 * M_PI * completion;
+ float x0 = element.radius * cos(angle0);
+ float y0 = element.radius * sin(angle0);
+ float angle1 = (float)(rings - 1) / rings * 2 * M_PI * completion;
+
+ SoSeparator* subSep = new SoSeparator();
+ SoTransform* tr = new SoTransform;
+ tr->translation.setValue(x0, y0, 0);
+
+ 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)));
+
+ node->removeAllChildren();
+ node->addChild(torus);
+ node->addChild(subSep);
+
+ }
+ };
+}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerBox.h b/source/RobotAPI/components/ArViz/Coin/VisualizerBox.h
index b0ccf472689c7e5bb4d5ac8e562171a3e9c0b660..d6c7e0607810b133829d3d84089738edd80b10e1 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerBox.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerBox.h
@@ -5,23 +5,23 @@
#include <RobotAPI/interface/ArViz/Elements.h>
#include <Inventor/nodes/SoCube.h>
-namespace armarx
+namespace armarx::viz::coin
{
- namespace viz
+ struct VisuDataBox : TypedVisuData<SoCube>
{
- namespace coin
+
+ };
+
+ class VisualizerBox : public TypedElementVisualizer<VisualizerBox, ElementBox, VisuDataBox>
+ {
+ public:
+ void updateElement(const ElementType& element, DataType* data)
{
+ auto* node = data->node();
- class VisualizerBox : public TypedElementVisualizer<VisualizerBox, ElementBox, SoCube>
- {
- public:
- void updateElement(const ElementType& element, NodeType* node)
- {
- node->width = element.size.e0;
- node->height = element.size.e1;
- node->depth = element.size.e2;
- }
- };
+ node->width = element.size.e0;
+ node->height = element.size.e1;
+ node->depth = element.size.e2;
}
- }
+ };
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerCylinder.h b/source/RobotAPI/components/ArViz/Coin/VisualizerCylinder.h
index b8e83e3f64daf0dfdea4d2a66070d6c4b9726ffa..a9bbce8db0451ef5f66405e286832ef0d6407d6a 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerCylinder.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerCylinder.h
@@ -5,23 +5,22 @@
#include <RobotAPI/interface/ArViz/Elements.h>
#include <Inventor/nodes/SoCylinder.h>
-namespace armarx
+namespace armarx::viz::coin
{
- namespace viz
+ struct VisuDataCylinder : TypedVisuData<SoCylinder>
{
- namespace coin
- {
- class VisualizerCylinder : public TypedElementVisualizer<VisualizerCylinder, ElementCylinder, SoCylinder>
- {
- public:
- void updateElement(ElementType const& element, NodeType* node)
- {
- node->radius = element.radius;
- node->height = element.height;
- }
- };
+ };
+
+ class VisualizerCylinder : public TypedElementVisualizer<VisualizerCylinder, ElementCylinder, VisuDataCylinder>
+ {
+ public:
+ void updateElement(ElementType const& element, DataType* data)
+ {
+ auto* node = data->node();
+ node->radius = element.radius;
+ node->height = element.height;
}
- }
+ };
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerLine.h b/source/RobotAPI/components/ArViz/Coin/VisualizerLine.h
index 81b007ca3b45ebd266b42d230cd1ef05c9b75ff9..b6d8465b0c55f3015b2e060cca8fa1ca2c1bfbbe 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerLine.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerLine.h
@@ -8,37 +8,38 @@
#include <Inventor/nodes/SoDrawStyle.h>
#include <Inventor/nodes/SoCoordinate3.h>
-namespace armarx
+namespace armarx::viz::coin
{
- namespace viz
+ struct VisuDataLine : TypedVisuData<SoSeparator>
{
- namespace coin
+ VisuDataLine()
{
+ lineStyle = new SoDrawStyle;
+ coordinate3 = new SoCoordinate3;
+ SoLineSet* lineSet = new SoLineSet;
+ lineSet->numVertices.setValue(2);
+ lineSet->startIndex.setValue(0);
+
+ auto* sep = node();
+ sep->addChild(lineStyle);
+ sep->addChild(coordinate3);
+ sep->addChild(lineSet);
+ }
+
+ SoDrawStyle* lineStyle;
+ SoCoordinate3* coordinate3;
+ };
- struct VisualizerLine: TypedElementVisualizer<VisualizerLine, ElementLine, SoSeparator>
- {
- void updateElement(ElementType const& element, NodeType* node)
- {
- SoDrawStyle* lineSolutionStyle = new SoDrawStyle();
- lineSolutionStyle->lineWidth.setValue(element.lineWidth);
-
- SbVec3f from(element.from.e0, element.from.e1, element.from.e2);
- SbVec3f to(element.to.e0, element.to.e1, element.to.e2);
- SoCoordinate3* coordinate3 = new SoCoordinate3;
- coordinate3->point.set1Value(0, from);
- coordinate3->point.set1Value(1, to);
-
- SoLineSet* lineSet = new SoLineSet;
- lineSet->numVertices.setValue(2);
- lineSet->startIndex.setValue(0);
-
- node->removeAllChildren();
- node->addChild(lineSolutionStyle);
- node->addChild(coordinate3);
- node->addChild(lineSet);
- }
- };
+ struct VisualizerLine: TypedElementVisualizer<VisualizerLine, ElementLine, VisuDataLine>
+ {
+ void updateElement(ElementType const& element, DataType* data)
+ {
+ data->lineStyle->lineWidth.setValue(element.lineWidth);
+ SbVec3f from(element.from.e0, element.from.e1, element.from.e2);
+ SbVec3f to(element.to.e0, element.to.e1, element.to.e2);
+ data->coordinate3->point.set1Value(0, from);
+ data->coordinate3->point.set1Value(1, to);
}
- }
+ };
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerPose.h b/source/RobotAPI/components/ArViz/Coin/VisualizerPose.h
index 6701744558019dc33abc29aea8e19259a016710e..e8f7307d2add2c002da30466f8a5e3c9c6f55204 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerPose.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerPose.h
@@ -10,129 +10,147 @@
#include <Inventor/nodes/SoTransform.h>
#include <Inventor/nodes/SoTranslation.h>
-namespace armarx
+namespace armarx::viz::coin
{
- namespace viz
+ struct VisuDataPose : TypedVisuData<SoSeparator>
{
- namespace coin
+ static const int NumberOfBlocks = 3;
+ VisuDataPose()
{
+ auto* sep = node();
- struct VisualizerPose: TypedElementVisualizer<VisualizerPose, ElementPose, SoSeparator>
+ for (int i = 0; i < 3; i++)
{
- void updateElement(ElementType const& element, NodeType* node)
+ SoTransform* t = new SoTransform();
+ SoMaterial* m = new SoMaterial();
+ t_[i] = t;
+ m_[i] = m;
+
+ SoCube* c = new SoCube();
+ SoCube* c2 = new SoCube();
+ SoTransform* t2 = new SoTransform();
+ c_[i] = c;
+ c2_[i] = c2;
+ t2_[i] = t2;
+
+ SoSeparator* tmp1 = new SoSeparator();
+ tmp1->addChild(m);
+ tmp1->addChild(t);
+ tmp1->addChild(c);
+ sep->addChild(tmp1);
+
+ SoSeparator* tmp2 = new SoSeparator();
+ SoMaterial* m2 = new SoMaterial();
+ m2->diffuseColor.setValue(1.0f, 1.0f, 1.0f);
+ tmp2->addChild(m2);
+
+ for (int j = 0; j < NumberOfBlocks; j++)
{
- std::string name = element.id;
-
- node->removeAllChildren();
-
- const float axisSize = 3.0f;
- const float axisLength = 100.0f;
- const int numberOfBlocks = 3;
-
- float scaling = element.scale;
-
- float blockSize = axisSize + 0.5f;
- float blockWidth = 0.1f;
-
- if (axisSize > 10.0f)
- {
- blockSize += axisSize / 10.0f;
- blockWidth += axisSize / 10.0f;
- }
-
- float axisBlockTranslation = axisLength / numberOfBlocks;
-
- for (int i = 0; i < 3; i++)
- {
- SoTransform* t = new SoTransform();
- SoMaterial* m = new SoMaterial();
-
- float translation = (axisLength / 2.0f + axisSize / 2.0f) * scaling;
- if (i == 0)
- {
- m->diffuseColor.setValue(1.0f, 0, 0);
- t->translation.setValue(translation, 0, 0);
- }
- else if (i == 1)
- {
- m->diffuseColor.setValue(0, 1.0f, 0);
- t->translation.setValue(0, translation, 0);
- }
- else
- {
- m->diffuseColor.setValue(0, 0, 1.0f);
- t->translation.setValue(0, 0, translation);
- }
-
- SoCube* c = new SoCube();
- SoCube* c2 = new SoCube();
- SoTransform* t2 = new SoTransform();
-
- if (i == 0)
- {
- c->width = axisLength * scaling;
- c->height = axisSize * scaling;
- c->depth = axisSize * scaling;
- c2->width = blockWidth * scaling;
- c2->height = blockSize * scaling;
- c2->depth = blockSize * scaling;
- t2->translation.setValue(axisBlockTranslation * scaling, 0, 0);
- }
- else if (i == 1)
- {
- c->height = axisLength * scaling;
- c->width = axisSize * scaling;
- c->depth = axisSize * scaling;
- c2->width = blockSize * scaling;
- c2->height = blockWidth * scaling;
- c2->depth = blockSize * scaling;
- t2->translation.setValue(0, axisBlockTranslation * scaling, 0);
- }
- else
- {
- c->depth = axisLength * scaling;
- c->height = axisSize * scaling;
- c->width = axisSize * scaling;
- c2->width = blockSize * scaling;
- c2->height = blockSize * scaling;
- c2->depth = blockWidth * scaling;
- t2->translation.setValue(0, 0, axisBlockTranslation * scaling);
- }
-
- SoSeparator* tmp1 = new SoSeparator();
- tmp1->addChild(m);
- tmp1->addChild(t);
- tmp1->addChild(c);
- node->addChild(tmp1);
-
- SoSeparator* tmp2 = new SoSeparator();
- SoMaterial* m2 = new SoMaterial();
- m2->diffuseColor.setValue(1.0f, 1.0f, 1.0f);
- tmp2->addChild(m2);
-
- for (int j = 0; j < numberOfBlocks; j++)
- {
- tmp2->addChild(t2);
- tmp2->addChild(c2);
- }
-
- node->addChild(tmp2);
- }
-
- SoSeparator* textSep = new SoSeparator();
- SoTranslation* moveT = new SoTranslation();
- moveT->translation.setValue(2.0f, 2.0f, 0.0f);
- textSep->addChild(moveT);
- SoAsciiText* textNode = new SoAsciiText();
-
- SbString text2(name.c_str());
- textNode->string.set(text2.getString());
- textSep->addChild(textNode);
-
- node->addChild(textSep);
+ tmp2->addChild(t2);
+ tmp2->addChild(c2);
}
- };
+ sep->addChild(tmp2);
+ }
+
+ SoSeparator* textSep = new SoSeparator();
+ SoTranslation* moveT = new SoTranslation();
+ moveT->translation.setValue(2.0f, 2.0f, 0.0f);
+ textSep->addChild(moveT);
+ textNode = new SoAsciiText();
+ textSep->addChild(textNode);
+
+ sep->addChild(textSep);
+ }
+
+ SoAsciiText* textNode;
+ std::array<SoTransform*, 3> t_;
+ std::array<SoMaterial*, 3> m_;
+ std::array<SoCube*, 3> c_;
+ std::array<SoCube*, 3> c2_;
+ std::array<SoTransform*, 3> t2_;
+ };
+
+ struct VisualizerPose: TypedElementVisualizer<VisualizerPose, ElementPose, VisuDataPose>
+ {
+ void updateElement(ElementType const& element, DataType* data)
+ {
+ const float axisSize = 3.0f;
+ const float axisLength = 100.0f;
+ const int numberOfBlocks = VisuDataPose::NumberOfBlocks;
+
+ float scaling = 1.0f;
+
+ float blockSize = axisSize + 0.5f;
+ float blockWidth = 0.1f;
+
+ if (axisSize > 10.0f)
+ {
+ blockSize += axisSize / 10.0f;
+ blockWidth += axisSize / 10.0f;
+ }
+
+ float axisBlockTranslation = axisLength / numberOfBlocks;
+
+ for (int i = 0; i < 3; i++)
+ {
+ SoTransform* t = data->t_[i];
+ SoMaterial* m = data->m_[i];
+
+ float translation = (axisLength / 2.0f + axisSize / 2.0f) * scaling;
+ if (i == 0)
+ {
+ m->diffuseColor.setValue(1.0f, 0, 0);
+ t->translation.setValue(translation, 0, 0);
+ }
+ else if (i == 1)
+ {
+ m->diffuseColor.setValue(0, 1.0f, 0);
+ t->translation.setValue(0, translation, 0);
+ }
+ else
+ {
+ m->diffuseColor.setValue(0, 0, 1.0f);
+ t->translation.setValue(0, 0, translation);
+ }
+
+ SoCube* c = data->c_[i];
+ SoCube* c2 = data->c2_[i];
+ SoTransform* t2 = data->t2_[i];
+
+ if (i == 0)
+ {
+ c->width = axisLength * scaling;
+ c->height = axisSize * scaling;
+ c->depth = axisSize * scaling;
+ c2->width = blockWidth * scaling;
+ c2->height = blockSize * scaling;
+ c2->depth = blockSize * scaling;
+ t2->translation.setValue(axisBlockTranslation * scaling, 0, 0);
+ }
+ else if (i == 1)
+ {
+ c->height = axisLength * scaling;
+ c->width = axisSize * scaling;
+ c->depth = axisSize * scaling;
+ c2->width = blockSize * scaling;
+ c2->height = blockWidth * scaling;
+ c2->depth = blockSize * scaling;
+ t2->translation.setValue(0, axisBlockTranslation * scaling, 0);
+ }
+ else
+ {
+ c->depth = axisLength * scaling;
+ c->height = axisSize * scaling;
+ c->width = axisSize * scaling;
+ c2->width = blockSize * scaling;
+ c2->height = blockSize * scaling;
+ c2->depth = blockWidth * scaling;
+ t2->translation.setValue(0, 0, axisBlockTranslation * scaling);
+ }
+ }
+
+ data->textNode->string.setValue(element.id.c_str());
}
- }
+ };
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerSphere.h b/source/RobotAPI/components/ArViz/Coin/VisualizerSphere.h
index 5c60b46e84397d40a38a340f903c80c3a65429ad..2320e0b39cdf062b4a7887a4ebba94c09ec4cd87 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerSphere.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerSphere.h
@@ -5,21 +5,20 @@
#include <RobotAPI/interface/ArViz/Elements.h>
#include <Inventor/nodes/SoSphere.h>
-namespace armarx
+namespace armarx::viz::coin
{
- namespace viz
+ struct VisuDataSphere : TypedVisuData<SoSphere>
{
- namespace coin
- {
- struct VisualizerSphere: TypedElementVisualizer<VisualizerSphere, ElementSphere, SoSphere>
- {
- void updateElement(ElementType const& element, NodeType* node)
- {
- node->radius = element.radius;
- }
- };
+ };
+
+ struct VisualizerSphere: TypedElementVisualizer<VisualizerSphere, ElementSphere, VisuDataSphere>
+ {
+ void updateElement(ElementType const& element, DataType* data)
+ {
+ auto* node = data->node();
+ node->radius = element.radius;
}
- }
+ };
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerText.h b/source/RobotAPI/components/ArViz/Coin/VisualizerText.h
index e942c78d5e40e577ae4716385ef8a1443f890b18..ee9df1f2f09ec0f9cf2ea1b52a7098cc7fc48d2d 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerText.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerText.h
@@ -6,19 +6,20 @@
#include <Inventor/nodes/SoAsciiText.h>
-namespace armarx
+namespace armarx::viz::coin
{
- namespace viz
+ struct VisuDataText : TypedVisuData<SoAsciiText>
{
- namespace coin
+
+ };
+
+ struct VisualizerText: TypedElementVisualizer<VisualizerText, ElementText, VisuDataText>
+ {
+ void updateElement(ElementType const& element, DataType* data)
{
- struct VisualizerText: TypedElementVisualizer<VisualizerText, ElementText, SoAsciiText>
- {
- void updateElement(ElementType const& element, NodeType* node)
- {
- node->string = element.text.c_str();
- }
- };
+ auto* node = data->node();
+
+ node->string = element.text.c_str();
}
- }
+ };
}
diff --git a/source/RobotAPI/components/ArVizExample/ArVizExample.cpp b/source/RobotAPI/components/ArVizExample/ArVizExample.cpp
index 8d02e7bc76f9d0f30fe26542111ada6cc0f9d407..3432c156b4e70b9a1f2cb610428b12a703e436d8 100644
--- a/source/RobotAPI/components/ArVizExample/ArVizExample.cpp
+++ b/source/RobotAPI/components/ArVizExample/ArVizExample.cpp
@@ -182,6 +182,24 @@ void ArVizExample::update()
layer.elements.push_back(arrow);
}
+ {
+ viz::ElementArrowCirclePtr circle(new viz::ElementArrowCircle);
+ circle->id = "circle";
+ circle->action = viz::Element_UPDATE;
+
+ float modTime = std::fmod(timeInSeconds, 2.0 * M_PI);
+ circle->completion = std::sin(modTime);
+
+ circle->radius = 100.0f;
+ circle->width = 10.0f;
+
+ 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};
+
+ layer.elements.push_back(circle);
+ }
topic->updateLayers({layer});