From b5f2f748a8de385bfec4128fd8581e508bb81e12 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 22 Dec 2022 16:11:29 +0100
Subject: [PATCH] Set localPose instead of changing only the internal
visualization model and then forgetting about this special transform forever.
F**k everyone not using Coin, right?
---
VirtualRobot/CMakeLists.txt | 1 +
.../CoinVisualizationFactory.cpp | 39 -------------------
.../CoinVisualizationFactory.h | 4 --
.../Visualization/VisualizationFactory.cpp | 26 +++++++++++++
.../Visualization/VisualizationFactory.h | 2 +-
5 files changed, 28 insertions(+), 44 deletions(-)
create mode 100644 VirtualRobot/Visualization/VisualizationFactory.cpp
diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index d3c336303..f09afe8aa 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -347,6 +347,7 @@ SET(SOURCES
Visualization/TriMeshModel.cpp
Visualization/TriMeshUtils.cpp
Visualization/Visualization.cpp
+ Visualization/VisualizationFactory.cpp
Visualization/VisualizationNode.cpp
Workspace/Manipulability.cpp
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
index fe1f66031..3e9cd8a83 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
@@ -4345,45 +4345,6 @@ namespace VirtualRobot
return root;
}
- void CoinVisualizationFactory::applyDisplacement(VisualizationNodePtr o, Eigen::Matrix4f& m)
- {
- if (!o)
- {
- return;
- }
-
-
- if (o->getType() != getName())
- {
- VR_ERROR << "Skipping Visualization type " << o->getType() << ", but factory is of type " << getName() << std::endl;
- return;
- }
-
- CoinVisualizationNode* cvn = dynamic_cast<CoinVisualizationNode*>(o.get());
-
- if (cvn)
- {
- SoNode* n = cvn->getCoinVisualization();
-
- if (n)
- {
- SoSeparator* s = new SoSeparator;
- s->ref();
- SoMatrixTransform* ma = getMatrixTransformScaleMM2M(m);
- s->addChild(ma);
- s->addChild(n->copy(FALSE));
-
- cvn->setVisualization(s);
- //o.reset(new CoinVisualizationNode(s));
- s->unrefNoDelete();
- }
- }
- else
- {
- VR_WARNING << "Invalid type casting to CoinVisualizationNode?!" << std::endl;
- }
- }
-
SoGroup* CoinVisualizationFactory::convertSoFileChildren(SoGroup* orig)
{
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
index 0afb2907d..eaf8b1878 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
@@ -107,10 +107,6 @@ namespace VirtualRobot
\return A VisualizationNode containing the visualization.
*/
VisualizationNodePtr createEllipse(float x, float y, float z, bool showAxes = true, float axesHeight = 4.0f, float axesWidth = 8.0f) override;
- /*!
- Move local visualization by homogeneous matrix m. MM is used.
- */
- void applyDisplacement(VisualizationNodePtr o, Eigen::Matrix4f& m) override;
/*!
Create an empty VisualizationNode.
diff --git a/VirtualRobot/Visualization/VisualizationFactory.cpp b/VirtualRobot/Visualization/VisualizationFactory.cpp
new file mode 100644
index 000000000..3a4f8a592
--- /dev/null
+++ b/VirtualRobot/Visualization/VisualizationFactory.cpp
@@ -0,0 +1,26 @@
+/**
+* @package VirtualRobot
+* @author Rainer Kartmann
+* @copyright 2022 Rainer Kartmann
+*/
+
+#include "VisualizationFactory.h"
+
+#include <VirtualRobot/Visualization/VisualizationNode.h>
+
+
+namespace VirtualRobot
+{
+
+ void
+ VisualizationFactory::applyDisplacement(VisualizationNodePtr visu,
+ Eigen::Matrix4f& displacement)
+ {
+ if (visu)
+ {
+ visu->setLocalPose(displacement);
+ }
+ }
+
+
+} // namespace VirtualRobot
diff --git a/VirtualRobot/Visualization/VisualizationFactory.h b/VirtualRobot/Visualization/VisualizationFactory.h
index ef9da305c..94f1142cd 100644
--- a/VirtualRobot/Visualization/VisualizationFactory.h
+++ b/VirtualRobot/Visualization/VisualizationFactory.h
@@ -206,7 +206,7 @@ namespace VirtualRobot
/*!
Move local visualization by homogeneous matrix m. (MM)
*/
- virtual void applyDisplacement(VisualizationNodePtr /*o*/, Eigen::Matrix4f& /*m*/) {}
+ virtual void applyDisplacement(VisualizationNodePtr visu, Eigen::Matrix4f& displacement);
/*!
Create an empty VisualizationNode.
--
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