VisualizationArrow.h

Go to the documentation of this file.

#pragma once
 
#include <RobotAPI/interface/ArViz/Elements.h>
 
#include "ElementVisualizer.h"
#include <Inventor/nodes/SoCone.h>
#include <Inventor/nodes/SoCylinder.h>
#include <Inventor/nodes/SoSphere.h>
#include <Inventor/nodes/SoTranslation.h>
 
namespace armarx::viz::coin
{
    struct VisualizationArrow : TypedElementVisualization<SoSeparator>
    {
        using ElementType = data::ElementArrow;
 
        VisualizationArrow()
        {
            tr = new SoTranslation;
            c = new SoCylinder();
            transl = new SoTranslation;
            cone = new SoCone();
 
            node->addChild(tr);
            node->addChild(c);
            node->addChild(transl);
            node->addChild(cone);
        }
 
        bool
        update(ElementType const& element)
        {
            float coneHeight = element.width * 6.0f;
            float coneBottomRadius = element.width * 2.5f;
            float baseLength = element.length - coneHeight;
            baseLength = std::max(0.0f, baseLength);
 
            tr->translation.setValue(0, baseLength * 0.5f, 0);
 
            c->radius = element.width;
            c->height = baseLength;
 
            transl->translation.setValue(0, element.length * 0.5f, 0);
 
            cone->bottomRadius.setValue(coneBottomRadius);
            cone->height.setValue(coneHeight);
 
            return true;
        }
 
        SoTranslation* tr;
        SoCylinder* c;
        SoTranslation* transl;
        SoCone* cone;
    };
} // namespace armarx::viz::coin