From d4ac3b66a30e63f91dbc2b9beec21be93bac860e Mon Sep 17 00:00:00 2001
From: vahrenkamp <vahrenkamp@042f3d55-54a8-47e9-b7fb-15903f145c44>
Date: Wed, 5 Dec 2012 13:46:22 +0000
Subject: [PATCH] added ellipse drawing tools
git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@347 042f3d55-54a8-47e9-b7fb-15903f145c44
---
.../CoinVisualizationFactory.cpp | 119 ++++++++++++++++++
.../CoinVisualizationFactory.h | 25 ++++
2 files changed, 144 insertions(+)
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
index 1d07d97c4..4351bc985 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
@@ -27,6 +27,8 @@
#include <Inventor/nodes/SoMatrixTransform.h>
#include <Inventor/nodes/SoMaterial.h>
#include <Inventor/nodes/SoCone.h>
+#include <Inventor/nodes/SoRotationXYZ.h>
+#include <Inventor/nodes/SoScale.h>
#include <Inventor/nodes/SoTransform.h>
#include <Inventor/nodes/SoTranslation.h>
#include <Inventor/nodes/SoBaseColor.h>
@@ -2106,6 +2108,123 @@ namespace VirtualRobot {
return res;
}
+
+SoSeparator* CoinVisualizationFactory::CreateEllipse(float x, float y, float z, SoMaterial* matBody, bool showAxes, float axesHeight, float axesWidth, SoMaterial* matX, SoMaterial* matY, SoMaterial* matZ)
+{
+ // check for min size
+ float minSize = 1e-6f;
+ if (x<minSize)
+ x=minSize;
+ if (y<minSize)
+ y=minSize;
+ if (z<minSize)
+ z=minSize;
+
+ if (!matBody)
+ {
+ matBody = new SoMaterial;
+ matBody->diffuseColor.setValue(0.3f,0.6f,0.9f);
+ matBody->ambientColor.setValue(0.3f,0.6f,0.9f);
+ matBody->transparency.setValue(0.3f);
+ }
+ if (!matX)
+ {
+ matX = new SoMaterial;
+ matX->diffuseColor.setValue(1.0f,0.2f,0.2f);
+ matX->ambientColor.setValue(1.0f,0.2f,0.2f);
+ matX->transparency.setValue(0);
+ }
+ if (!matY)
+ {
+ matY = new SoMaterial;
+ matY->diffuseColor.setValue(0.2f,0.9f,0.2f);
+ matY->ambientColor.setValue(0.2f,0.9f,0.2f);
+ matY->transparency.setValue(0);
+ }
+ if (!matZ)
+ {
+ matZ = new SoMaterial;
+ matZ->diffuseColor.setValue(0.2f,0.2f,0.9f);
+ matZ->ambientColor.setValue(0.2f,0.2f,0.9f);
+ matZ->transparency.setValue(0);
+ }
+ SoSeparator *result = new SoSeparator;
+ result->ref();
+
+ // ensure good quality
+ SoComplexity *c = new SoComplexity();
+ c->type.setValue(SoComplexity::OBJECT_SPACE);
+ c->value.setValue(1.0f);
+ result->addChild(c);
+
+
+ SoSeparator *p1 = new SoSeparator;
+ result->addChild(p1);
+
+ p1->addChild(matBody);
+ SoScale *sc1 = new SoScale;
+ sc1->scaleFactor.setValue(x,y,z);
+ p1->addChild(sc1);
+
+ SoSphere *sp = new SoSphere();
+ sp->radius.setValue(1.0f);
+ p1->addChild(sp);
+
+ if (showAxes)
+ {
+
+ // y axis
+ SoSeparator *ax1 = new SoSeparator();
+ result->addChild(ax1);
+ ax1->addChild(c);
+ SoScale *scAx1 = new SoScale();
+ scAx1->scaleFactor.setValue(x+axesHeight,1.0f,z+axesHeight);
+ ax1->addChild(scAx1);
+ ax1->addChild(matY);
+ SoCylinder *c1 = new SoCylinder();
+ c1->radius.setValue(1.0f);
+ c1->height.setValue(axesWidth); // cone is aligned with y axis
+ ax1->addChild(c1);
+
+ // z axis
+ SoSeparator *ax2 = new SoSeparator();
+ result->addChild(ax2);
+ ax2->addChild(c);
+ SoScale *scAx2 = new SoScale();
+ scAx2->scaleFactor.setValue(x+axesHeight,y+axesHeight,1.0f);
+ ax2->addChild(scAx2);
+ ax2->addChild(matZ);
+ SoRotationXYZ *rot2 = new SoRotationXYZ();
+ rot2->axis.setValue(SoRotationXYZ::X);
+ rot2->angle.setValue(float(M_PI*0.5f));
+ ax2->addChild(rot2);
+ SoCylinder *c2 = new SoCylinder();
+ c2->radius.setValue(0.999f); // avoid artefacts at meeting points with other axes
+ c2->height.setValue(axesWidth);
+ ax2->addChild(c2);
+
+ // x axis
+ SoSeparator *ax3 = new SoSeparator();
+ result->addChild(ax3);
+ ax3->addChild(c);
+ SoScale *scAx3 = new SoScale();
+ scAx3->scaleFactor.setValue(1.0f,y+axesHeight,z+axesHeight);
+ ax3->addChild(scAx3);
+ ax3->addChild(matX);
+ SoRotationXYZ *rot3 = new SoRotationXYZ();
+ rot3->axis.setValue(SoRotationXYZ::Z);
+ rot3->angle.setValue(float(-M_PI*0.5f));
+ ax3->addChild(rot3);
+ SoCylinder *c3 = new SoCylinder();
+ c3->radius.setValue(0.998f); // avoid artefacts at meeting points with other axes
+ c3->height.setValue(axesWidth);
+ ax3->addChild(c3);
+ }
+
+ result->unrefNoDelete();
+ return result;
+}
+
} // namespace VirtualRobot
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
index 146a755b4..b97075c0a 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
@@ -34,6 +34,7 @@
#include <Inventor/SoInput.h>
#include <Inventor/nodes/SoMatrixTransform.h>
+#include <Inventor/nodes/SoMaterial.h>
#include <Inventor/SoOffscreenRenderer.h>
#include <Inventor/nodes/SoPerspectiveCamera.h>
#include <Inventor/nodes/SoCamera.h>
@@ -96,6 +97,30 @@ public:
static SoSeparator* CreatePointsVisualization(const std::vector<MathTools::ContactPoint> &points, bool showNormals = false);
static SoSeparator* CreateArrow(const Eigen::Vector3f &n, float length = 50.0f, float width = 2.0f, const Color &color = Color::Gray());
static SoSeparator* CreateVertexVisualization( const Eigen::Vector3f &position, float radius, float transparency, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f );
+
+ /*!
+ Creates an coordinate axis aligned ellipse
+ \param x The extend in x direction must be >= 1e-6
+ \param y The extend in y direction must be >= 1e-6
+ \param z The extend in z direction must be >= 1e-6
+ \param matBody If not given a standard material is used for the ellipse body
+ \param showAxes If true, the axes are visualized
+ \param axesHeight The height of the axes (measured from the body surface)
+ \param axesWidth The width of the axes.
+ \param matAxisX If not given a standard material is used for axis X
+ \param matAxisY If not given a standard material is used for axis Y
+ \param matAxisZ If not given a standard material is used for axis Z
+ \return A separator conatining the visualization.
+ */
+ static SoSeparator* CreateEllipse( float x, float y, float z,
+ SoMaterial* matBody = NULL,
+ bool showAxes = true,
+ float axesHeight = 4.0f,
+ float axesWidth = 8.0f,
+ SoMaterial* matAxisX = NULL,
+ SoMaterial* matAxisY = NULL,
+ SoMaterial* matAxisZ = NULL
+ );
static SoSeparator* CreateOOBBVisualization( const MathTools::OOBB& oobb, Color colorLine = Color::Gray(), float lineSize = 4.0f);
static SoSeparator* CreateSegmentVisualization( const MathTools::Segment& s, Color colorLine = Color::Gray(), float lineSize = 4.0f);
--
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