ElementVisualizer.cpp

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#include "ElementVisualizer.h"
 
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
 
#include <RobotAPI/components/ArViz/IceConversions.h>
 
#include <Inventor/nodes/SoMaterial.h>
#include <Inventor/nodes/SoTransform.h>
#include <Inventor/nodes/SoUnits.h>
 
namespace armarx::viz::coin
{
    ElementVisualization::ElementVisualization()
    {
        // We do everything in millimeters...
        units = new SoUnits();
        units->units = SoUnits::MILLIMETERS;
 
        transform = new SoTransform;
        material = new SoMaterial;
 
        switch_ = new SoSwitch;
        switch_->whichChild = SO_SWITCH_ALL;
 
        separator = new SoSeparator;
        separator->addChild(units);
        separator->addChild(transform);
        separator->addChild(material);
        separator->addChild(switch_);
    }
 
    void
    ElementVisualization::updateBase(data::Element const& element)
    {
        auto& p = element.pose;
        transform->translation.setValue(p.x, p.y, p.z);
        transform->rotation.setValue(p.qx, p.qy, p.qz, p.qw);
        transform->scaleFactor.setValue(element.scale.e0, element.scale.e1, element.scale.e2);
 
        auto color = element.color;
        const float conv = 1.0f / 255.0f;
        SbColor coinColor(conv * color.r, conv * color.g, conv * color.b);
        material->ambientColor.setValue(coinColor);
        material->diffuseColor.setValue(coinColor);
        material->transparency.setValue(1.0f - conv * color.a);
 
        // This enables textured meshes to be displayed with transparency
        bool overrideMaterial = (element.flags & data::ElementFlags::OVERRIDE_MATERIAL);
        material->setOverride(overrideMaterial);
    }
 
    std::unique_ptr<ElementVisualization>
    ElementVisualizer::create(const data::Element& element)
    {
        std::unique_ptr<ElementVisualization> result(createDerived());
        update(element, result.get());
 
        return result;
    }
 
    bool
    ElementVisualizer::update(data::Element const& element, ElementVisualization* visu)
    {
        visu->updateBase(element);
        return updateDerived(element, visu);
    }
} // namespace armarx::viz::coin