From 54e52b0295983d8de6b88e1d946c15b991cd80d4 Mon Sep 17 00:00:00 2001
From: Philipp Schmidt <ufedv@student.kit.edu>
Date: Tue, 7 Jul 2015 14:01:27 +0200
Subject: [PATCH] Changed tcp pose indicators to be transparent and made camera
orthographic again due to camera culling problems
---
.../gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp | 11 +++++++++--
.../gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.h | 3 +++
.../gui-plugins/RobotIKPlugin/RobotViewer.cpp | 2 +-
.../RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.h | 4 ++--
4 files changed, 15 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp
index 139844494..1ae00f53e 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp
@@ -284,19 +284,26 @@ void armarx::RobotIKWidgetController::kinematicChainChanged(const QString &arg1)
manipSeparator = new SoSeparator;
currentSeparator = new SoSeparator;
+ tcpCurrentColor = new SoMaterial;
+ tcpCurrentColor->transparency = 0.6f;
tcpCurrent = new SoSphere;
- tcpCurrent->radius = 0.03f;
+ tcpCurrent->radius = 0.06f;
+ tcpDesiredColor = new SoMaterial;
+ tcpDesiredColor->ambientColor.setValue(0, 1, 0);
+ tcpDesiredColor->transparency = 0.3f;
tcpDesired = new SoSphere;
- tcpDesired->radius = 0.03f;
+ tcpDesired->radius = 0.06f;
tcpManip = new SoCenterballManip;
tcpCurrentTransform = new SoTransform;
tcpManipTransform = new SoTransform;
manipSeparator->addChild(tcpManipTransform);
manipSeparator->addChild(tcpManip);
+ manipSeparator->addChild(tcpDesiredColor);
manipSeparator->addChild(tcpDesired);
currentSeparator->addChild(tcpCurrentTransform);
+ currentSeparator->addChild(tcpCurrentColor);
currentSeparator->addChild(tcpCurrent);
this->ui.robotViewer->getRobotViewer()->getRootNode()->insertChild(currentSeparator, 0);
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.h b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.h
index 98bda26db..0042f92d7 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.h
@@ -47,6 +47,7 @@
#include <Inventor/sensors/SoTimerSensor.h>
#include <Inventor/manips/SoCenterballManip.h>
#include <Inventor/nodes/SoSphere.h>
+#include <Inventor/nodes/SoMaterial.h>
namespace armarx
{
@@ -115,8 +116,10 @@ namespace armarx
SoSeparator* currentSeparator;
SoCenterballManip* tcpManip;
SoTransform* tcpManipTransform;
+ SoMaterial* tcpDesiredColor;
SoSphere* tcpDesired;
SoTransform* tcpCurrentTransform;
+ SoMaterial* tcpCurrentColor;
SoSphere* tcpCurrent;
SoTimerSensor* timerSensor;
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.cpp b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.cpp
index 80f580664..b28e34e88 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.cpp
+++ b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.cpp
@@ -10,7 +10,7 @@
#include <Inventor/events/SoMouseButtonEvent.h>
#include <Inventor/events/SoLocation2Event.h>
-armarx::RobotViewer::RobotViewer(QWidget* widget) : SoQtExaminerViewer(widget), sceneRootNode(new SoSeparator), contentRootNode(new SoSeparator), camera(new SoPerspectiveCamera)
+armarx::RobotViewer::RobotViewer(QWidget* widget) : SoQtExaminerViewer(widget), sceneRootNode(new SoSeparator), contentRootNode(new SoSeparator), camera(new SoOrthographicCamera)
{
this->setBackgroundColor(SbColor(150 / 255.0f, 150 / 255.0f, 150 / 255.0f));
this->setAccumulationBuffer(true);
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.h b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.h
index d5997ec42..23157e005 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.h
+++ b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.h
@@ -2,7 +2,7 @@
#define __RobotViewer_h__
/* Coin headers */
-#include <Inventor/nodes/SoPerspectiveCamera.h>
+#include <Inventor/nodes/SoOrthographicCamera.h>
#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
namespace armarx
@@ -18,7 +18,7 @@ namespace armarx
virtual SbBool processSoEvent(const SoEvent* const event);
SoSeparator* sceneRootNode;
SoSeparator* contentRootNode;
- SoPerspectiveCamera* camera;
+ SoOrthographicCamera* camera;
};
}
--
GitLab