diff --git a/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.cpp b/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.cpp
index aff982525aa9d36f8774463e00d3d622d7dbdd12..1acd8b4e7847bac18dde8939141f73060bbd89bd 100644
--- a/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.cpp
@@ -19,16 +19,31 @@ namespace armarx
transform = new SoTransform;
material = new SoMaterial;
- seperator = new SoSeparator;
- seperator->addChild(units);
- seperator->addChild(transform);
- seperator->addChild(material);
+ separator = new SoSeparator;
+ separator->addChild(units);
+ separator->addChild(transform);
+ separator->addChild(material);
+ }
+
+ void ElementVisualization::updateBase(Element const& element)
+ {
+ auto& p = element.pose;
+ transform->translation.setValue(p.x, p.y, p.z);
+ transform->rotation.setValue(p.qx, p.qy, p.qz, p.qw);
+ transform->scaleFactor.setValue(element.scale, element.scale, element.scale);
+
+ auto color = element.color;
+ const float conv = 1.0f / 255.0f;
+ SbColor coinColor(conv * color.r, conv * color.g, conv * color.b);
+ material->ambientColor.setValue(coinColor);
+ material->diffuseColor.setValue(coinColor);
+ material->transparency.setValue(1.0f - conv * color.a);
+
}
std::unique_ptr<ElementVisualization> ElementVisualizer::create(const Element& element)
{
- std::unique_ptr<ElementVisualization> result(createElement_());
- result->seperator->addChild(result->getNode());
+ std::unique_ptr<ElementVisualization> result(createDerived());
update(element, result.get());
return result;
@@ -36,24 +51,8 @@ namespace armarx
bool ElementVisualizer::update(Element const& element, ElementVisualization* visu)
{
- if (visu->transform)
- {
- auto& p = element.pose;
- visu->transform->translation.setValue(p.x, p.y, p.z);
- visu->transform->rotation.setValue(p.qx, p.qy, p.qz, p.qw);
- visu->transform->scaleFactor.setValue(element.scale, element.scale, element.scale);
- }
- if (visu->material)
- {
- auto color = element.color;
- const float conv = 1.0f / 255.0f;
- SbColor coinColor(conv * color.r, conv * color.g, conv * color.b);
- visu->material->ambientColor.setValue(coinColor);
- visu->material->diffuseColor.setValue(coinColor);
- visu->material->transparency.setValue(1.0f - conv * color.a);
- }
-
- return updateElement_(element, visu);
+ visu->updateBase(element);
+ return updateDerived(element, visu);
}
}
}
diff --git a/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h b/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
index dbab6fe521e9373d291135c9f70d7c0566057406..13cb06f47540009c319422c176eba8f132872c16 100644
--- a/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
@@ -22,12 +22,12 @@ namespace armarx
virtual ~ElementVisualization() = default;
- virtual SoNode* getNode() = 0;
+ void updateBase(Element const& element);
- SoSeparator* seperator = nullptr;
- SoUnits* units = nullptr;
- SoTransform* transform = nullptr;
- SoMaterial* material = nullptr;
+ SoSeparator* separator;
+ SoUnits* units;
+ SoTransform* transform;
+ SoMaterial* material;
};
template <typename NodeT>
@@ -40,11 +40,6 @@ namespace armarx
node = new NodeType;
}
- NodeType* getNode() final
- {
- return node;
- }
-
NodeType* node;
};
@@ -53,31 +48,34 @@ namespace armarx
public:
virtual ~ElementVisualizer() = default;
- virtual std::unique_ptr<ElementVisualization> create(Element const& element) final;
- virtual bool update(Element const& element, ElementVisualization* visu) final;
+ std::unique_ptr<ElementVisualization> create(Element const& element);
+ bool update(Element const& element, ElementVisualization* visu);
- virtual ElementVisualization* createElement_() = 0;
- virtual bool updateElement_(Element const& element, ElementVisualization* data) = 0;
+ virtual ElementVisualization* createDerived() = 0;
+ virtual bool updateDerived(Element const& element, ElementVisualization* data) = 0;
};
template <typename DataT>
- class TypedElementVisualizer2 : public ElementVisualizer
+ class TypedElementVisualizer : public ElementVisualizer
{
public:
using DataType = DataT;
using ElementType = typename DataType::ElementType;
- DataType* createElement_() override
+ DataType* createDerived() final
{
- return new DataType;
+ DataType* result = new DataType;
+ result->separator->addChild(result->node);
+ return result;
}
- bool updateElement_(Element const& element_, ElementVisualization* data_) override
+ bool updateDerived(Element const& element_, ElementVisualization* data_) final
{
auto const& element = static_cast<ElementType const&>(element_);
auto* data = dynamic_cast<DataType*>(data_);
if (data)
{
+ // We want to call update with the correctly downcasted arguments
return data->update(element);
}
return false;
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index f396ff632e4511f3fee5e2ac80ff3c51d4ce7c03..bcd0eda902ca828cb1e8bbfdb273bd1a840e397c 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -155,7 +155,7 @@ namespace armarx
case Element_ADD:
{
// Remove old element and create a new one below
- layer.node->removeChild(oldElement.seperator);
+ layer.node->removeChild(oldElement.separator);
}
break;
case Element_UPDATE:
@@ -168,14 +168,14 @@ namespace armarx
else
{
// Types are different, so we delete the old element and create a new one
- layer.node->removeChild(oldElement.seperator);
+ layer.node->removeChild(oldElement.separator);
}
}
break;
case Element_DELETE:
{
layer.elements.erase(oldElementIter);
- layer.node->removeChild(oldElement.seperator);
+ layer.node->removeChild(oldElement.separator);
continue;
}
break;
@@ -193,9 +193,9 @@ namespace armarx
continue;
}
auto elementVisu = visualizer.create(updatedElement);
- if (elementVisu->seperator)
+ if (elementVisu->separator)
{
- layer.node->addChild(elementVisu->seperator);
+ layer.node->addChild(elementVisu->separator);
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 e66b3dbb33a4908f8b8408d428addde44ee6bdd8..adf85ebb98b0147358821b1235934513bf1f9b04 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerArrow.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerArrow.h
@@ -53,7 +53,7 @@ namespace armarx::viz::coin
SoCone* cone;
};
- struct VisualizerArrow : TypedElementVisualizer2<VisualizationArrow>
+ struct VisualizerArrow : TypedElementVisualizer<VisualizationArrow>
{
};
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerArrowCircle.h b/source/RobotAPI/components/ArViz/Coin/VisualizerArrowCircle.h
index 984bfd9e52349c2cacf059a1b6294809d8cc7271..5904df956f0da0411547931cc8e72c1ef73c8ace 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerArrowCircle.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerArrowCircle.h
@@ -66,7 +66,7 @@ namespace armarx::viz::coin
}
};
- struct VisualizerArrowCircle: TypedElementVisualizer2<VisualizationArrowCircle>
+ struct VisualizerArrowCircle: TypedElementVisualizer<VisualizationArrowCircle>
{
};
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerBox.h b/source/RobotAPI/components/ArViz/Coin/VisualizerBox.h
index 0750f7a5a29b7aa4a0f1242a05637dec242270bf..9a553c89771d2c13b96ad7038939c89339497e59 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerBox.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerBox.h
@@ -21,7 +21,7 @@ namespace armarx::viz::coin
}
};
- class VisualizerBox : public TypedElementVisualizer2<VisualizationBox>
+ class VisualizerBox : public TypedElementVisualizer<VisualizationBox>
{
};
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerCylinder.h b/source/RobotAPI/components/ArViz/Coin/VisualizerCylinder.h
index db85f4c9f43c71728012894515ef5a784dba4797..389ca4bdbcbf60a0131f6973a1c791d66d9b9895 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerCylinder.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerCylinder.h
@@ -20,7 +20,7 @@ namespace armarx::viz::coin
}
};
- class VisualizerCylinder : public TypedElementVisualizer2<VisualizationCylinder>
+ class VisualizerCylinder : public TypedElementVisualizer<VisualizationCylinder>
{
};
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerLine.h b/source/RobotAPI/components/ArViz/Coin/VisualizerLine.h
index c5100af6b69aebf9414e301786dbc2e65ef647c0..cf2a102bea97568a16bf5ae07b2d17ff50a13511 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerLine.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerLine.h
@@ -43,7 +43,7 @@ namespace armarx::viz::coin
SoCoordinate3* coordinate3;
};
- struct VisualizerLine: TypedElementVisualizer2<VisualizationLine>
+ struct VisualizerLine: TypedElementVisualizer<VisualizationLine>
{
};
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h b/source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h
index e2eb2848d56de9ba95dd816585c25d5ddb36c530..d6f8e43bf639ba63e90b86a516f8307e43c6eb0e 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h
@@ -131,7 +131,7 @@ namespace armarx::viz::coin
std::vector<int32_t> matInx;
};
- struct VisualizerMesh: TypedElementVisualizer2<VisualizationMesh>
+ struct VisualizerMesh: TypedElementVisualizer<VisualizationMesh>
{
};
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerPointCloud.h b/source/RobotAPI/components/ArViz/Coin/VisualizerPointCloud.h
index cfd055f9432c16b2e9f970b5ac227ea738934cc9..9503849e272799b37a7dadd93715b98ba6b71213 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerPointCloud.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerPointCloud.h
@@ -69,7 +69,7 @@ namespace armarx::viz::coin
std::vector<SbVec3f> coords;
};
- struct VisualizerPointCloud: TypedElementVisualizer2<VisualizationPointCloud>
+ struct VisualizerPointCloud: TypedElementVisualizer<VisualizationPointCloud>
{
};
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerPolygon.h b/source/RobotAPI/components/ArViz/Coin/VisualizerPolygon.h
index 11b8fda3e9db0c77d17fa9fc6210a4a3ebf05659..05c7fbcaaf928757d86864f4b5577f96aa604be2 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerPolygon.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerPolygon.h
@@ -93,7 +93,7 @@ namespace armarx::viz::coin
SoMaterial* lineMaterial;
};
- struct VisualizerPolygon : TypedElementVisualizer2<VisualizationPolygon>
+ struct VisualizerPolygon : TypedElementVisualizer<VisualizationPolygon>
{
};
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerPose.h b/source/RobotAPI/components/ArViz/Coin/VisualizerPose.h
index 5f496242c9cefef69269f3e411331abc0ed29a0b..fb7825add74e8a8918b9e632c9719797bddca1ae 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerPose.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerPose.h
@@ -154,7 +154,7 @@ namespace armarx::viz::coin
std::array<SoTransform*, 3> t2_;
};
- struct VisualizerPose: TypedElementVisualizer2<VisualizationPose>
+ struct VisualizerPose: TypedElementVisualizer<VisualizationPose>
{
};
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerRobot.h b/source/RobotAPI/components/ArViz/Coin/VisualizerRobot.h
index 47f8f3ce548025bb5af01d140a91c9c764fa8767..d0228d2ce05c41cd7be791f1aaf97b83c5e38e70 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerRobot.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerRobot.h
@@ -23,7 +23,7 @@ namespace armarx::viz::coin
}
};
- struct VisualizerRobot: TypedElementVisualizer2<VisualizationRobot>
+ struct VisualizerRobot: TypedElementVisualizer<VisualizationRobot>
{
};
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerSphere.h b/source/RobotAPI/components/ArViz/Coin/VisualizerSphere.h
index 9510c5daab48ef7d93b0a814405d8e8494b64369..f2f9f065a00e6aeda26f63505a3f7a88a9a4e832 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerSphere.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerSphere.h
@@ -19,7 +19,7 @@ namespace armarx::viz::coin
}
};
- struct VisualizerSphere: TypedElementVisualizer2<VisualizationSphere>
+ struct VisualizerSphere: TypedElementVisualizer<VisualizationSphere>
{
};
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerText.h b/source/RobotAPI/components/ArViz/Coin/VisualizerText.h
index f4d4fd55c719cee2eb21310352a11eabc067fc63..8046f5be0fdc9a0c128643a3ae09111cbf5133dc 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerText.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerText.h
@@ -20,7 +20,7 @@ namespace armarx::viz::coin
}
};
- struct VisualizerText: TypedElementVisualizer2<VisualizationText>
+ struct VisualizerText: TypedElementVisualizer<VisualizationText>
{
};
}