diff --git a/VirtualRobot/MathTools.h b/VirtualRobot/MathTools.h
index 780f96bbcf0e9b41f4f7e7cde972e97242ab6ff5..f60e84319985ea2a57abc6d81a0f8364887179be 100644
--- a/VirtualRobot/MathTools.h
+++ b/VirtualRobot/MathTools.h
@@ -341,10 +341,26 @@ namespace MathTools
{
this->id1 = id1; this->id2 = id2; this->id3 = id3;
}
+ void setColor(unsigned int idColor1, unsigned int idColor2, unsigned int idColor3) {
+ this->idColor1 = idColor1; this->idColor2 = idColor2; this->idColor3 = idColor3;
+ }
+ void setMaterial(unsigned int idMaterial) {
+ this->idMaterial = idMaterial;
+ }
+
// id == position in vertex array
unsigned int id1;
unsigned int id2;
unsigned int id3;
+
+ // idColor == position in color array
+ unsigned int idColor1;
+ unsigned int idColor2;
+ unsigned int idColor3;
+
+ // idMaterial == position in material array
+ unsigned int idMaterial;
+
Eigen::Vector3f normal;
};
struct TriangleFace6D
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
index 553eee8de58c6489bb18e67bd22e94ee75a48104..da7c53c1fca8fab07e0be32ac7338322ece573e0 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
@@ -736,7 +736,17 @@ namespace VirtualRobot {
return pGrid;
}
- SoSeparator* CoinVisualizationFactory::CreatePolygonVisualization( const std::vector<Eigen::Vector3f> &points, VisualizationFactory::Color colorInner /*= VisualizationFactory::Color::Blue()*/, VisualizationFactory::Color colorLine /*= VisualizationFactory::Color::Black()*/, float lineSize /*= 4.0f*/ )
+ SoSeparator* CoinVisualizationFactory::CreatePolygonVisualization( const std::vector<Eigen::Vector3f> &points, VisualizationFactory::Color colorInner, VisualizationFactory::Color colorLine, float lineSize)
+ {
+ VisualizationFactory::PhongMaterial mat;
+ mat.diffuse = colorInner;
+ mat.ambient = colorInner;
+ mat.transparency = colorInner.transparency;
+
+ return CreatePolygonVisualization(points, mat, colorLine, lineSize);
+ }
+
+ SoSeparator* CoinVisualizationFactory::CreatePolygonVisualization( const std::vector<Eigen::Vector3f> &points, VisualizationFactory::PhongMaterial mat, VisualizationFactory::Color colorLine, float lineSize)
{
SoSeparator* visu = new SoSeparator;
if (points.size()==0)
@@ -747,14 +757,14 @@ namespace VirtualRobot {
u->units = SoUnits::MILLIMETERS;
visu->addChild(u);
- if (!colorInner.isNone())
- {
- SoMaterial *m = new SoMaterial;
- m->diffuseColor.setValue(colorInner.r, colorInner.g, colorInner.b);
- m->ambientColor.setValue(colorInner.r, colorInner.g, colorInner.b);
- m->transparency.setValue(colorInner.transparency);
- visu->addChild(m);
- }
+ SoMaterial *m = new SoMaterial;
+ m->diffuseColor.setValue(mat.diffuse.r, mat.diffuse.g, mat.diffuse.b);
+ m->ambientColor.setValue(mat.ambient.r, mat.ambient.g, mat.ambient.b);
+ m->emissiveColor.setValue(mat.emission.r, mat.emission.g, mat.emission.b);
+// m->shininess.setValue(mat.shininess, mat.shininess, mat.shininess);
+ m->specularColor.setValue(mat.specular.r, mat.specular.g, mat.specular.b);
+ m->transparency.setValue(mat.transparency);
+ visu->addChild(m);
SoCoordinate3* coordinate3 = new SoCoordinate3;
SoCoordinate3* coordinate3b = new SoCoordinate3;
@@ -993,7 +1003,18 @@ namespace VirtualRobot {
v.push_back(v1);
v.push_back(v2);
v.push_back(v3);
- SoSeparator* s = CreatePolygonVisualization(v,color,lineColor,lineSize);
+// SoSeparator* s = CreatePolygonVisualization(v,color,lineColor,lineSize);
+
+ VisualizationFactory::Color triColor = (model->colors.size() == 0)? color : model->colors[model->faces[i].idColor1];
+
+ SoSeparator* s;
+ if (model->materials.size() == 0) {
+ s = CreatePolygonVisualization(v,triColor,lineColor,lineSize);
+ } else {
+ VisualizationFactory::PhongMaterial mat = model->materials[model->faces[i].idMaterial];
+ s = CreatePolygonVisualization(v, mat, lineColor,lineSize);
+ }
+
res->addChild(s);
if (showNormals)
{
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
index 9bfc25ba56227d329fdb1123bf8e4c91db357bb9..b4009c28613144aad8b7be558f51162ec3625b96 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
@@ -104,6 +104,7 @@ public:
static SoSeparator* CreateConvexHull2DVisualization(const MathTools::ConvexHull2DPtr ch, MathTools::Plane &p, VisualizationFactory::Color colorInner = VisualizationFactory::Color::Blue(), VisualizationFactory::Color colorLine = VisualizationFactory::Color::Black(), float lineSize = 5.0f, const Eigen::Vector3f &offset =Eigen::Vector3f::Zero() );
static SoSeparator* CreatePolygonVisualization(const std::vector<Eigen::Vector3f> &points, VisualizationFactory::Color colorInner = VisualizationFactory::Color::Blue(), VisualizationFactory::Color colorLine = VisualizationFactory::Color::Black(), float lineSize = 4.0f);
+ static SoSeparator* CreatePolygonVisualization(const std::vector<Eigen::Vector3f> &points, VisualizationFactory::PhongMaterial mat, VisualizationFactory::Color colorLine = VisualizationFactory::Color::Black(), float lineSize = 4.0f);
static SoSeparator* CreatePlaneVisualization(const Eigen::Vector3f &position, const Eigen::Vector3f &normal, float extend, float transparency, bool grid=true, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f, std::string textureFile = std::string());
static SoSeparator* CreateCoordSystemVisualization(float scaling = 1.0f, std::string *text = NULL, float axisLength = 100.0f, float axisSize = 3.0f, int nrOfBlocks = 10);
static SoSeparator* CreateBoundingBox(SoNode* ivModel, bool wireFrame=false);
diff --git a/VirtualRobot/Visualization/TriMeshModel.cpp b/VirtualRobot/Visualization/TriMeshModel.cpp
index 6afc7881f8883d538e8b50d248d403c99c2e5252..4f382be731b17838c98fa73f2e56f2461411dd8e 100644
--- a/VirtualRobot/Visualization/TriMeshModel.cpp
+++ b/VirtualRobot/Visualization/TriMeshModel.cpp
@@ -14,7 +14,6 @@
#include <iomanip>
namespace VirtualRobot {
-
/**
* This method adds the vertices \p vertex1,
* \p vertex2 and \p vertex3 to TriMeshModel::vertices and creates a new
@@ -30,12 +29,16 @@ void TriMeshModel::addTriangleWithFace(Eigen::Vector3f& vertex1, Eigen::Vector3f
addTriangleWithFace (vertex1,vertex2,vertex3,normal);
}
-void TriMeshModel::addTriangleWithFace( Eigen::Vector3f& vertex1, Eigen::Vector3f& vertex2, Eigen::Vector3f& vertex3, Eigen::Vector3f& normal )
+void TriMeshModel::addTriangleWithFace( Eigen::Vector3f& vertex1, Eigen::Vector3f& vertex2, Eigen::Vector3f& vertex3, Eigen::Vector3f& normal, VisualizationFactory::Color color1, VisualizationFactory::Color color2, VisualizationFactory::Color color3 )
{
this->addVertex(vertex1);
this->addVertex(vertex2);
this->addVertex(vertex3);
+ this->addColor(color1);
+ this->addColor(color2);
+ this->addColor(color3);
+
if (normal.norm()<1e-10)
normal = TriMeshModel::CreateNormal(vertex1, vertex2, vertex3);
else
@@ -47,12 +50,23 @@ void TriMeshModel::addTriangleWithFace( Eigen::Vector3f& vertex1, Eigen::Vector3
face.id2 = this->vertices.size()-2;
face.id3 = this->vertices.size()-1;
+ face.idColor1 = this->colors.size() - 3;
+ face.idColor2 = this->colors.size() - 2;
+ face.idColor3 = this->colors.size() - 1;
+
face.normal = normal;
this->addFace(face);
}
-
+void TriMeshModel::addTriangleWithFace(Eigen::Vector3f& vertex1, Eigen::Vector3f& vertex2, Eigen::Vector3f& vertex3, Eigen::Vector4f& vertexColor1, Eigen::Vector4f& vertexColor2, Eigen::Vector4f& vertexColor3)
+{
+ Eigen::Vector3f normal = TriMeshModel::CreateNormal(vertex1, vertex2, vertex3);
+ VisualizationFactory::Color color1(vertexColor1(0), vertexColor1(1), vertexColor1(2), vertexColor1(4));
+ VisualizationFactory::Color color2(vertexColor2(0), vertexColor2(1), vertexColor2(2), vertexColor2(4));
+ VisualizationFactory::Color color3(vertexColor3(0), vertexColor3(1), vertexColor3(2), vertexColor3(4));
+ addTriangleWithFace(vertex1, vertex2, vertex3, normal, color1, color2, color3);
+}
/**
@@ -100,6 +114,27 @@ void TriMeshModel::addVertex(const Eigen::Vector3f& vertex)
boundingBox.addPoint(vertex);
}
+/**
+ * This method adds a color to the internal data structure TriMeshModel::colors
+ */
+void TriMeshModel::addColor(const VisualizationFactory::Color& color) {
+ colors.push_back(color);
+}
+
+/**
+ * This method converts and adds a color to the internal data structure TriMeshModel::colors
+ */
+void TriMeshModel::addColor(const Eigen::Vector4f& color) {
+ addColor(VisualizationFactory::Color(color(0), color(1), color(2), color(3)));
+}
+
+/**
+ * This method converts and adds a color to the internal data structure TriMeshModel::materials
+ */
+void TriMeshModel::addMaterial(const VisualizationFactory::PhongMaterial& material) {
+ materials.push_back(material);
+}
+
/**
* This method clears the internal data structures TriMeshModel::faces and
@@ -108,7 +143,9 @@ void TriMeshModel::addVertex(const Eigen::Vector3f& vertex)
void TriMeshModel::clear()
{
vertices.clear();
+ colors.clear();
faces.clear();
+ materials.clear();
boundingBox.clear();
}
diff --git a/VirtualRobot/Visualization/TriMeshModel.h b/VirtualRobot/Visualization/TriMeshModel.h
index e6cb80afe037cd89ce3aecd1f1c65757e1f7a53e..e6da807b9d0d64ae7ef1c613c8730fd99d343f70 100644
--- a/VirtualRobot/Visualization/TriMeshModel.h
+++ b/VirtualRobot/Visualization/TriMeshModel.h
@@ -24,6 +24,7 @@
#define _VirtualRobot_TriMeshModel_h_
#include "../VirtualRobotImportExport.h"
+#include "../Visualization/VisualizationFactory.h"
#include "../MathTools.h"
#include "../BoundingBox.h"
#include <Eigen/Core>
@@ -38,10 +39,17 @@ public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
void addTriangleWithFace(Eigen::Vector3f& vertex1, Eigen::Vector3f& vertex2, Eigen::Vector3f& vertex3);
- void addTriangleWithFace(Eigen::Vector3f& vertex1, Eigen::Vector3f& vertex2, Eigen::Vector3f& vertex3, Eigen::Vector3f& normal);
+ void addTriangleWithFace(Eigen::Vector3f& vertex1, Eigen::Vector3f& vertex2, Eigen::Vector3f& vertex3, Eigen::Vector3f& normal,
+ VisualizationFactory::Color color1 = VisualizationFactory::Color::Gray(),
+ VisualizationFactory::Color color2 = VisualizationFactory::Color::Gray(),
+ VisualizationFactory::Color color3 = VisualizationFactory::Color::Gray());
+ void addTriangleWithFace(Eigen::Vector3f& vertex1, Eigen::Vector3f& vertex2, Eigen::Vector3f& vertex3, Eigen::Vector4f& vertexColor1, Eigen::Vector4f& vertexColor2, Eigen::Vector4f& vertexColor3);
static Eigen::Vector3f CreateNormal(Eigen::Vector3f& vertex1, Eigen::Vector3f& vertex2, Eigen::Vector3f& vertex3);
void addFace(const MathTools::TriangleFace& face);
void addVertex(const Eigen::Vector3f& vertex);
+ void addColor(const VisualizationFactory::Color& color);
+ void addColor(const Eigen::Vector4f& color);
+ void addMaterial(const VisualizationFactory::PhongMaterial& material);
void clear();
void flipVertexOrientations();
@@ -56,7 +64,9 @@ public:
TriMeshModelPtr clone (Eigen::Vector3f &scaleFactor);
std::vector<Eigen::Vector3f> vertices;
+ std::vector<VisualizationFactory::Color> colors;
std::vector<MathTools::TriangleFace> faces;
+ std::vector<VisualizationFactory::PhongMaterial> materials;
BoundingBox boundingBox;
};
} // namespace VirtualRobot
diff --git a/VirtualRobot/Visualization/VisualizationFactory.h b/VirtualRobot/Visualization/VisualizationFactory.h
index 9d9a93e401588741396800c40a0c619c358a342e..7788432d527821fa4aaa60737ba6d69c38f74d3a 100644
--- a/VirtualRobot/Visualization/VisualizationFactory.h
+++ b/VirtualRobot/Visualization/VisualizationFactory.h
@@ -43,7 +43,7 @@ public:
struct Color
{
Color(){transparency=0.0f;r=g=b=0.5f;}
- Color(float r, float g, float b, float transparency):r(r),g(g),b(b),transparency(transparency){}
+ Color(float r, float g, float b, float transparency = 0.0f):r(r),g(g),b(b),transparency(transparency){}
float r,g,b;
float transparency;
bool isNone() const {return transparency>=1.0f;}
@@ -55,6 +55,21 @@ public:
static Color None(){return Color(0.0f,0.0f,0.0f,1.0f);}
};
+ struct PhongMaterial
+ {
+ PhongMaterial(){};
+ Color emission;
+ Color ambient;
+ Color diffuse;
+ Color specular;
+ float shininess;
+ Color reflective;
+ float reflectivity;
+ Color transparent;
+ float transparency;
+ float refractionIndex;
+ };
+
VisualizationFactory() {;}
virtual ~VisualizationFactory() {;}