From 12ca0ca9751b874fe40f065fc808703dad200bc2 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 10 Oct 2019 15:29:45 +0200
Subject: [PATCH] Remove normals from mesh (only use generated ones) - This
avoids back culling, normal and lighting issues
---
.../components/ArViz/Coin/VisualizerMesh.h | 52 +++++--------------
.../components/ArVizExample/ArVizExample.cpp | 15 ++----
source/RobotAPI/interface/ArViz/Elements.ice | 4 --
3 files changed, 16 insertions(+), 55 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h b/source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h
index 656a656d0..d3f38e679 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h
@@ -19,34 +19,27 @@ namespace armarx::viz::coin
SoMaterialBinding* myBinding = new SoMaterialBinding;
myBinding->value = SoMaterialBinding::PER_VERTEX_INDEXED;
- myMaterials = new SoMaterial;
- myCoords = new SoCoordinate3;
- normals = new SoNormal;
-
- SoNormalBinding* normBinding = new SoNormalBinding;
- normBinding->value = SoNormalBinding::PER_VERTEX_INDEXED;
+ materials = new SoMaterial;
+ coords = new SoCoordinate3;
SoShapeHints* hints = new SoShapeHints;
// Disable back culling and enable two-sided lighting
hints->vertexOrdering = SoShapeHints::VertexOrdering::COUNTERCLOCKWISE;
hints->shapeType = SoShapeHints::ShapeType::UNKNOWN_SHAPE_TYPE;
- myFaceSet = new SoIndexedFaceSet;
+ faceSet = new SoIndexedFaceSet;
auto* sep = node();
sep->addChild(myBinding);
- sep->addChild(myMaterials);
- sep->addChild(myCoords);
- sep->addChild(normals);
- sep->addChild(normBinding);
+ sep->addChild(materials);
+ sep->addChild(coords);
sep->addChild(hints);
- sep->addChild(myFaceSet);
+ sep->addChild(faceSet);
}
- SoMaterial* myMaterials;
- SoCoordinate3* myCoords;
- SoNormal* normals;
- SoIndexedFaceSet* myFaceSet;
+ SoMaterial* materials;
+ SoCoordinate3* coords;
+ SoIndexedFaceSet* faceSet;
};
struct VisualizerMesh: TypedElementVisualizer<VisualizerMesh, ElementMesh, VisuDataMesh>
@@ -92,7 +85,7 @@ namespace armarx::viz::coin
}
// Define colors for the faces
- SoMaterial* myMaterials = data->myMaterials;
+ 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());
@@ -107,25 +100,10 @@ namespace armarx::viz::coin
}
// Define coordinates for vertices
- data->myCoords->point.setValues(0, vertexSize, vertexPositions.data());
-
- // define nomals array
- int normalSize = (int)element.normals.size();
- // per vertex normals
- std::vector<SbVec3f> normalsArray(normalSize);
- for (int i = 0; i < normalSize; i++)
- {
- auto n = element.normals[i];
- normalsArray[i].setValue(n.e0, n.e1, n.e2);
- }
+ data->coords->point.setValues(0, vertexSize, vertexPositions.data());
- // Define coordinates for vertices
- data->normals->vector.setValues(0, normalSize, normalsArray.data());
-
- // define faces and normals
int facesSize = (int)element.faces.size();
std::vector<int32_t> faces(facesSize * 4);
- std::vector<int32_t> normalIndx(facesSize * 4);
std::vector<int32_t> matInx(facesSize * 4);
for (int i = 0; i < facesSize; i++)
@@ -137,20 +115,14 @@ namespace armarx::viz::coin
faces[i * 4 + 2] = face.v2;
faces[i * 4 + 3] = SO_END_FACE_INDEX;
- normalIndx[i * 4 + 0] = face.n0;
- normalIndx[i * 4 + 1] = face.n1;
- normalIndx[i * 4 + 2] = face.n2;
- normalIndx[i * 4 + 3] = SO_END_FACE_INDEX;
-
matInx[i * 4 + 0] = face.c0;
matInx[i * 4 + 1] = face.c1;
matInx[i * 4 + 2] = face.c2;
matInx[i * 4 + 3] = SO_END_FACE_INDEX;
}
- SoIndexedFaceSet* myFaceSet = data->myFaceSet;
+ SoIndexedFaceSet* myFaceSet = data->faceSet;
myFaceSet->coordIndex.setValues(0, faces.size(), faces.data());
- myFaceSet->normalIndex.setValues(0, normalIndx.size(), normalIndx.data());
myFaceSet->materialIndex.setValues(0, matInx.size(), matInx.data());
}
};
diff --git a/source/RobotAPI/components/ArVizExample/ArVizExample.cpp b/source/RobotAPI/components/ArVizExample/ArVizExample.cpp
index 47fe296b9..ce146f416 100644
--- a/source/RobotAPI/components/ArVizExample/ArVizExample.cpp
+++ b/source/RobotAPI/components/ArVizExample/ArVizExample.cpp
@@ -24,6 +24,7 @@
#include <Eigen/Eigen>
+#include <ArmarXCore/core/time/CycleUtil.h>
#include <ArmarXCore/core/time/TimeUtil.h>
using namespace armarx;
@@ -84,6 +85,7 @@ void ArVizExample::onDisconnectComponent()
void ArVizExample::update()
{
+ CycleUtil c(20);
while (!task->isStopped())
{
double timeInSeconds = TimeUtil::GetTime().toSecondsDouble();
@@ -262,30 +264,21 @@ void ArVizExample::update()
{255, 0, 255, 0},
{255, 0, 0, 255},
};
- armarx::Vector3f normals[] =
- {
- {0.0f, 0.0f, 1.0f},
- {0.0f, 1.0f, 0.0f},
- };
armarx::viz::Face faces[] =
{
{
- 2, 1, 0,
0, 1, 2,
- 0, 0, 0
+ 0, 1, 2,
},
{
1, 2, 3,
0, 1, 2,
- 1, 1, 1
},
};
std::size_t verticesSize = sizeof(vertices) / sizeof(vertices[0]);
mesh->vertices.assign(vertices, vertices + verticesSize);
std::size_t colorsSize = sizeof(colors) / sizeof(colors[0]);
mesh->colors.assign(colors, colors + colorsSize);
- std::size_t normalsSize = sizeof(normals) / sizeof(normals[0]);
- mesh->normals.assign(normals, normals + normalsSize);
std::size_t facesSize = sizeof(faces) / sizeof(faces[0]);
mesh->faces.assign(faces, faces + facesSize);
@@ -299,7 +292,7 @@ void ArVizExample::update()
topic->updateLayers({layer});
- TimeUtil::SleepMS(10);
+ c.waitForCycleDuration();
}
}
diff --git a/source/RobotAPI/interface/ArViz/Elements.ice b/source/RobotAPI/interface/ArViz/Elements.ice
index 2aac43d49..49296fb3d 100644
--- a/source/RobotAPI/interface/ArViz/Elements.ice
+++ b/source/RobotAPI/interface/ArViz/Elements.ice
@@ -124,9 +124,6 @@ module viz
int c0 = 0;
int c1 = 0;
int c2 = 0;
- int n0 = 0;
- int n1 = 0;
- int n2 = 0;
};
sequence<Face> FaceSeq;
@@ -135,7 +132,6 @@ module viz
{
Vector3fSeq vertices;
ColorSeq colors;
- Vector3fSeq normals;
FaceSeq faces;
};
--
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