From 9f20937b16a1a62b5139e88fbc9013b1ce926462 Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Mon, 28 Sep 2020 16:21:06 +0200
Subject: [PATCH] add visibility control to ArViz elements
- add Element::hide(), Element::show(), and Element::visibile() to
toggle an elements visibility
- update ArViz example
---
.../ArViz/Client/elements/ElementOps.h | 27 +++++++++++++++++++
.../components/ArViz/Coin/ElementVisualizer.h | 26 ++++++++++++++++++
.../components/ArViz/Example/ArVizExample.cpp | 6 +++++
source/RobotAPI/interface/ArViz/Elements.ice | 1 +
4 files changed, 60 insertions(+)
diff --git a/source/RobotAPI/components/ArViz/Client/elements/ElementOps.h b/source/RobotAPI/components/ArViz/Client/elements/ElementOps.h
index e7b8f0542..4f7c222f5 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/ElementOps.h
+++ b/source/RobotAPI/components/ArViz/Client/elements/ElementOps.h
@@ -140,6 +140,33 @@ namespace armarx::viz
return *static_cast<DerivedT*>(this);
}
+ DerivedT& hide()
+ {
+ data_->flags |= data::ElementFlags::HIDDEN;
+
+ return *static_cast<DerivedT*>(this);
+ }
+
+ DerivedT& show()
+ {
+ data_->flags &= ~data::ElementFlags::HIDDEN;
+
+ return *static_cast<DerivedT*>(this);
+ }
+
+ DerivedT& visible(bool visible)
+ {
+ if (visible)
+ {
+ return show();
+ }
+ else
+ {
+ return hide();
+ }
+ }
+
+
IceInternal::Handle<ElementT> data_;
};
diff --git a/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h b/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
index 8c3f524fb..9be0fa5b5 100644
--- a/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
@@ -7,6 +7,8 @@
#include <memory>
+#include <RobotAPI/interface/ArViz/Elements.h>
+
namespace armarx::viz::data
{
class Element;
@@ -27,6 +29,7 @@ namespace armarx::viz::coin
SoTransform* transform;
SoMaterial* material;
bool wasUpdated = true;
+ bool visible = true;
};
class ElementVisualizer
@@ -50,6 +53,12 @@ namespace armarx::viz::coin
TypedElementVisualization()
{
node = new NodeType;
+ node->ref();
+ }
+
+ ~TypedElementVisualization()
+ {
+ node->unref();
}
NodeType* node;
@@ -62,6 +71,7 @@ namespace armarx::viz::coin
using DataType = DataT;
using ElementType = typename DataType::ElementType;
+
DataType* createDerived() final
{
DataType* result = new DataType;
@@ -73,8 +83,24 @@ namespace armarx::viz::coin
{
auto const& element = static_cast<ElementType const&>(element_);
auto* data = dynamic_cast<DataType*>(data_);
+
if (data)
{
+ bool hidden = (element.flags & armarx::viz::data::ElementFlags::HIDDEN);
+ if (hidden)
+ {
+ if (data->visible)
+ {
+ data->separator->removeChild(data->node);
+ data->visible = false;
+ }
+ }
+ else if (!data->visible)
+ {
+ data->visible = true;
+ data->separator->addChild(data->node);
+ }
+
// We want to call update with the correctly downcasted arguments
return data->update(element);
}
diff --git a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
index 9043aa8ae..6cb096403 100644
--- a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
+++ b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
@@ -69,6 +69,9 @@ namespace armarx
.color(viz::Color::red())
.size(Eigen::Vector3f(100.0f, 100.0f, 100.0f));
+ bool toggleVisibility = (static_cast<int>(timeInSeconds) % 2 == 0);
+ box.visible(toggleVisibility);
+
layer.add(box);
}
{
@@ -125,6 +128,7 @@ namespace armarx
Eigen::Vector3f direction = dirRot * Eigen::Vector3f::UnitX();
arrow.direction(direction);
+
Eigen::Vector3f pos = Eigen::Vector3f::Zero();
pos.z() = +300.0f;
pos.x() = -500.0f;
@@ -133,6 +137,8 @@ namespace armarx
layer.add(arrow);
}
+
+
}
diff --git a/source/RobotAPI/interface/ArViz/Elements.ice b/source/RobotAPI/interface/ArViz/Elements.ice
index 03440c043..ac8a70dfe 100644
--- a/source/RobotAPI/interface/ArViz/Elements.ice
+++ b/source/RobotAPI/interface/ArViz/Elements.ice
@@ -34,6 +34,7 @@ module data
{
const int NONE = 0;
const int OVERRIDE_MATERIAL = 1;
+ const int INVISIBLE = 2;
};
class Element
--
GitLab