added col model support

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@720 042f3d55-54a8-47e9-b7fb-15903f145c44

VirtualRobot/examples/SceneViewer/SceneViewer.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>792</width>
-    <height>657</height>
+    <width>798</width>
+    <height>695</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -242,6 +242,19 @@
         </property>
        </widget>
       </widget>
+      <widget class="QCheckBox" name="checkBoxColModel">
+       <property name="geometry">
+        <rect>
+         <x>10</x>
+         <y>590</y>
+         <width>181</width>
+         <height>22</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>Collision Model</string>
+       </property>
+      </widget>
      </widget>
     </item>
    </layout>
@@ -251,8 +264,8 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>792</width>
-     <height>21</height>
+     <width>798</width>
+     <height>25</height>
     </rect>
    </property>
   </widget>

VirtualRobot/examples/SceneViewer/showSceneWindow.cpp

@@ -81,6 +81,7 @@ void showSceneWindow::setupUI()
 	connect(UI.pushButtonEEFOpen, SIGNAL(clicked()), this, SLOT(openHand()));
 	connect(UI.comboBoxEEF, SIGNAL(activated(int)), this, SLOT(selectEEF(int)));
 	connect(UI.comboBoxGrasp, SIGNAL(activated(int)), this, SLOT(selectGrasp(int)));
+    connect(UI.checkBoxColModel, SIGNAL(clicked()), this, SLOT(colModel()));
 
 	/*
 	connect(UI.checkBoxColModel, SIGNAL(clicked()), this, SLOT(collisionModel()));
@@ -88,7 +89,6 @@ void showSceneWindow::setupUI()
 	UI.checkBoxFullModel->setChecked(true);
 	connect(UI.checkBoxFullModel, SIGNAL(clicked()), this, SLOT(robotFullModel()));
 	connect(UI.checkBoxRobotCoordSystems, SIGNAL(clicked()), this, SLOT(robotCoordSystems()));
-	connect(UI.checkBoxShowCoordSystem, SIGNAL(clicked()), this, SLOT(showCoordSystem()));
 	connect(UI.comboBoxRobotNodeSet, SIGNAL(activated(int)), this, SLOT(selectRNS(int)));
 	connect(UI.comboBoxJoint, SIGNAL(activated(int)), this, SLOT(selectJoint(int)));
 	connect(UI.horizontalSliderPos, SIGNAL(valueChanged(int)), this, SLOT(jointValueChanged(int)));*/
@@ -123,8 +123,13 @@ void showSceneWindow::resetSceneryAll()
 
 void showSceneWindow::closeEvent(QCloseEvent *event)
 {
-	quit();
-	QMainWindow::closeEvent(event);
+    quit();
+    QMainWindow::closeEvent(event);
+}
+
+void showSceneWindow::colModel()
+{
+    buildVisu();
 }
 
 
@@ -134,7 +139,11 @@ void showSceneWindow::buildVisu()
 	if (!scene)
 		return;
 	sceneVisuSep->removeAllChildren();
-	visualization = scene->getVisualization<CoinVisualization>();
+    SceneObject::VisualizationType visuType = SceneObject::Full;
+    if (UI.checkBoxColModel->isChecked())
+        visuType = SceneObject::Collision;
+
+    visualization = scene->getVisualization<CoinVisualization>(visuType);
 	SoNode* visualisationNode = NULL;
 	if (visualization)
 		visualisationNode = visualization->getCoinVisualization();

VirtualRobot/examples/SceneViewer/showSceneWindow.h

@@ -56,7 +56,8 @@ public slots:
 	void sliderMoved(int pos);
 
 	void closeHand();
-	void openHand();
+    void openHand();
+    void colModel();
 
 	SoQtExaminerViewer* getExaminerViewer(){return viewer;};