From d33e173749bb24ab3beb0d6cf9f245d30480cb88 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Mon, 8 Jun 2020 18:09:24 +0200
Subject: [PATCH] ArViz: VisualizationRobot cache current color and only change
if needed
---
.../ArViz/Coin/VisualizationRobot.cpp | 41 +++++++++++--------
.../ArViz/Coin/VisualizationRobot.h | 1 +
2 files changed, 25 insertions(+), 17 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
index 7c466cdac..71786aac9 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
@@ -136,26 +136,33 @@ namespace armarx::viz::coin
if (loadedDrawStyle & data::ModelDrawStyle::OVERRIDE_COLOR)
{
- int numChildren = node->getNumChildren();
- for (int i = 0; i < numChildren; i++)
+ if (loadedColor.r != element.color.r
+ || loadedColor.g != element.color.g
+ || loadedColor.b != element.color.b
+ || loadedColor.a != element.color.a)
{
- SoSeparator* nodeSep = static_cast<SoSeparator*>(node->getChild(i));
- // The first entry must be a SoMaterial (see recreateVisualizationNodes)
- SoMaterial* m = dynamic_cast<SoMaterial*>(nodeSep->getChild(0));
- if (!m)
+ int numChildren = node->getNumChildren();
+ for (int i = 0; i < numChildren; i++)
{
- ARMARX_WARNING << "Error at node with index: " << i;
- continue;
+ SoSeparator* nodeSep = static_cast<SoSeparator*>(node->getChild(i));
+ // The first entry must be a SoMaterial (see recreateVisualizationNodes)
+ SoMaterial* m = dynamic_cast<SoMaterial*>(nodeSep->getChild(0));
+ if (!m)
+ {
+ ARMARX_WARNING << "Error at node with index: " << i;
+ continue;
+ }
+
+ auto color = element.color;
+ const float conv = 1.0f / 255.0f;
+ float a = color.a * conv;
+ SbColor coinColor(conv * color.r, conv * color.g, conv * color.b);
+ m->diffuseColor = coinColor;
+ m->ambientColor = coinColor;
+ m->transparency = 1.0f - a;
+ m->setOverride(true);
}
-
- auto color = element.color;
- const float conv = 1.0f / 255.0f;
- float a = color.a * conv;
- SbColor coinColor(conv * color.r, conv * color.g, conv * color.b);
- m->diffuseColor = coinColor;
- m->ambientColor = coinColor;
- m->transparency = 1.0f - a;
- m->setOverride(true);
+ loadedColor = element.color;
}
}
IceUtil::Time time_color = IceUtil::Time::now();
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.h b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.h
index cb6699735..63aa3f1f8 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.h
@@ -25,6 +25,7 @@ namespace armarx::viz::coin
LoadedRobot loaded;
int loadedDrawStyle = data::ModelDrawStyle::ORIGINAL;
+ armarx::viz::data::Color loadedColor{0, 0, 0, 0};
};
void clearRobotCache();
--
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