void SparseOccupancyGridArrayDisplay::processMessage(
const jsk_recognition_msgs::SparseOccupancyGridArray::ConstPtr& msg)
{
allocateCloudsAndNodes(msg->grids.size()); // not enough
for (size_t i = 0; i < msg->grids.size(); i++) {
Ogre::SceneNode* node = nodes_[i];
rviz::PointCloud* cloud = clouds_[i];
const jsk_recognition_msgs::SparseOccupancyGrid grid = msg->grids[i];
Ogre::Vector3 position;
Ogre::Quaternion quaternion;
if(!context_->getFrameManager()->transform(grid.header, grid.origin_pose,
position,
quaternion)) {
ROS_ERROR( "Error transforming pose '%s' from frame '%s' to frame '%s'",
qPrintable( getName() ), grid.header.frame_id.c_str(),
qPrintable( fixed_frame_ ));
return; // return?
}
node->setPosition(position);
node->setOrientation(quaternion);
cloud->setDimensions(grid.resolution, grid.resolution, 0.0);
std::vector<rviz::PointCloud::Point> points;
for (size_t ci = 0; ci < grid.columns.size(); ci++) {
const jsk_recognition_msgs::SparseOccupancyGridColumn column = grid.columns[ci];
const int column_index = column.column_index;
for (size_t ri = 0; ri < column.cells.size(); ri++) {
const jsk_recognition_msgs::SparseOccupancyGridCell cell = column.cells[ri];
const int row_index = cell.row_index;
rviz::PointCloud::Point point;
if (!axis_color_) {
QColor color = gridColor(cell.value);
Ogre::ColourValue ogre_color = rviz::qtToOgre(color);
point.color = ogre_color;
}
else {
QColor color = axisColor(quaternion, Ogre::Vector3(1, 0, 0));
Ogre::ColourValue ogre_color = rviz::qtToOgre(color);
point.color = ogre_color;
}
point.position.x = grid.resolution * (column_index + 0.5);
point.position.y = grid.resolution * (row_index + 0.5);
point.position.z = 0.0;
points.push_back(point);
}
}
cloud->clear();
cloud->setAlpha(alpha_);
if (!points.empty()) {
cloud->addPoints(&points.front(), points.size());
}
}
context_->queueRender();
}
void Level::render() {
GameState::render();
camera->commit();
glLightfv(GL_LIGHT0, GL_POSITION, light0Pos);
// Applies camera changes to the scene
Col axisColor(0.2f, 0.7f, 0.95f, 0.7f);
//ColExp1 axisColor1(0.2f, 0.7f, 0.95f, 0.7f);
//ColExp2 axisColor2(0.2f, 0.7f, 0.95f, 0.7f);
GrcPrimitives::segment(Vec3(0, 0, 0), Vec3(10, 0, 0), axisColor);
GrcPrimitives::segment(Vec3(0, 0, 0), Vec3(0, 10, 0), axisColor);
GrcPrimitives::segment(Vec3(0, 0, 0), Vec3(0, 0, 10), axisColor);
GrcPrimitives::ray(exampleEntity->getTransform().getPosition(), exampleEntity->getTransform().getForward(), Col(1.0f, 1.0f, 1.0f, 1.0f));
GrcPrimitives::ray(exampleEntity->getTransform().getPosition(), exampleEntity->getTransform().getRight(), Col(1.0f, 1.0f, 1.0f, 1.0f));
GrcPrimitives::ray(exampleEntity->getTransform().getPosition(), exampleEntity->getTransform().getUp(), Col(1.0f, 1.0f, 1.0f, 1.0f));
floorProg->enable();
floorProg->bindTexture("tex", floorTex->index, GL_TEXTURE_2D, 0);
GLfloat light0Color[]={1.0f, 1.0f, 0.8f};
floorProg->setUniformfv("lightColor", light0Color, 3);
glColor3f(1.0f, 1.0f, 1.0f);
glNormal3f(0.0f, 1.0f, 0.0f);
glBegin(GL_QUADS);
{
float s = 20.f;
float rep = 20.f;
glTexCoord2f(0.f, 0.f);
glVertex3f(-s, -5, -s);
glTexCoord2f(rep, 0.f);
glVertex3f(s, -5.f, -s);
glTexCoord2f(rep, rep);
glVertex3f(s, -5.f, s);
glTexCoord2f(0.f, rep);
glVertex3f(-s, -5.f, s);
}
glEnd();
floorProg->disable();
objProg->enable();
objProg->setUniformfv("lightColor", light0Color, 3);
exampleEntity->Render();
objProg->disable();
}
void RotationManipulator::RenderScaled(const Vect &cameraDir, float scale)
{
traceInFast(RotationManipulator::RenderScaled);
DWORD i;
Shader *rotManipShader = GetVertexShader(TEXT("Editor:RotationManipulator.vShader"));
LoadVertexShader(rotManipShader);
LoadPixelShader(GetPixelShader(TEXT("Base:SolidColor.pShader")));
rotManipShader->SetVector(rotManipShader->GetParameter(2), cameraDir);
MatrixPush();
MatrixTranslate(GetWorldPos());
MatrixScale(scale, scale, scale);
for(i=0; i<3; i++)
{
Vect axisColor(0.0f, 0.0f, 0.0f);
axisColor.ptr[i] = 1.0f;
if(i == activeAxis)
axisColor.Set(1.0f, 1.0f, 0.0f);
else
axisColor.ptr[i] = 1.0f;
rotManipShader->SetVector(rotManipShader->GetParameter(1), axisColor);
LoadVertexBuffer(axisBuffers[i]);
LoadIndexBuffer(NULL);
Draw(GS_LINESTRIP);
}
LoadVertexBuffer(NULL);
//----------------------------------------------------
Shader *solidShader = GetVertexShader(TEXT("Base:SolidColor.vShader"));
LoadVertexShader(solidShader);
MatrixPush();
MatrixRotate(Quat().SetLookDirection(cameraDir));
LoadVertexBuffer(axisBuffers[2]);
LoadIndexBuffer(NULL);
solidShader->SetColor(solidShader->GetParameter(1), 0.5, 0.5, 0.5, 0.5);
Draw(GS_LINESTRIP);
MatrixScale(1.25f, 1.25f, 1.25f);
//---------------
if(activeAxis == 4)
solidShader->SetColor(solidShader->GetParameter(1), 1.0f, 1.0f, 0.0, 1.0f);
else
solidShader->SetColor(solidShader->GetParameter(1), 0.8, 0.8, 0.8, 0.8);
Draw(GS_LINESTRIP);
MatrixPop();
MatrixPop();
LoadVertexShader(NULL);
LoadPixelShader(NULL);
traceOutFast;
}
void FadeMetro::paintEvent(QPaintEvent* /*event*/)
{
QPainter painter(this);
painter.setRenderHints(QPainter::Antialiasing|QPainter::TextAntialiasing);
QPainterPath clip;
clip.addRoundedRect(m_MetroRect, ROUNDED, ROUNDED);
painter.setClipPath(clip);
const QPixmap &pixmap = m_Images[m_ImageIndex].pixmap;
if( !pixmap.isNull() )
{
painter.drawPixmap( m_MetroRect.x() + qRound((m_MetroRect.width()-pixmap.width())*0.5),
m_MetroRect.y() + qRound((m_MetroRect.height()-pixmap.height())*0.5),
pixmap );
}
painter.setClipping(false);
float brightness = m_Click;
if(m_Hover > 0)
brightness += (m_Hover*0.2f);
QColor color( palette().color(QPalette::Button) );
if(brightness > 0)
{
qreal t = (brightness * BUTTON_BRIGHTESS);
color.setRedF( qMin(color.redF()+t,1.0) );
color.setGreenF( qMin(color.greenF()+t,1.0) );
color.setBlueF( qMin(color.blueF()+t,1.0) );
}
float t = sinf(m_Pos);
const float TRAVEL_45_DEGREES_IN_RADIANS = 0.785398163f;
float radians = (t * TRAVEL_45_DEGREES_IN_RADIANS);
float armPenWidth = (BORDER * 2);
QPointF base(m_MetroRect.x()+m_MetroRect.width()*0.5, m_MetroRect.bottom());
QColor axisColor(color);
axisColor.setAlpha(180);
painter.setPen( QPen(axisColor,HALF_BORDER) );
painter.drawLine(base.x(), base.y(), base.x(), m_MetroRect.y());
painter.setPen( QPen(color,BORDER,Qt::SolidLine,Qt::SquareCap,Qt::RoundJoin) );
painter.setBrush(Qt::NoBrush);
painter.drawRoundedRect(m_MetroRect, ROUNDED, ROUNDED);
QPointF tip(base.x() + m_ArmLength*sinf(radians), m_MetroRect.height() - m_ArmLength*cosf(radians));
painter.setPen( QPen(color,armPenWidth,Qt::SolidLine,Qt::RoundCap) );
painter.drawLine(base, tip);
if( !text().isEmpty() )
{
int hoverRaise = qRound(m_Hover * BUTTON_RAISE);
painter.setFont( font() );
painter.setPen( palette().color(QPalette::ButtonText) );
painter.drawText(QRect(0,0,width(),m_MetroRect.y()-hoverRaise), Qt::AlignCenter|Qt::TextWordWrap|Qt::TextDontClip, text());
if( !m_Label.isEmpty() )
painter.drawText(QRect(0,m_MetroRect.bottom(),width(),height()-m_MetroRect.bottom()+hoverRaise), Qt::AlignCenter|Qt::TextWordWrap|Qt::TextDontClip, m_Label);
}
else if( !m_Label.isEmpty() )
{
int hoverRaise = qRound(m_Hover * BUTTON_RAISE);
painter.setFont( font() );
painter.setPen( palette().color(QPalette::ButtonText) );
painter.drawText(QRect(0,m_MetroRect.bottom(),width(),height()-m_MetroRect.bottom()+hoverRaise), Qt::AlignCenter|Qt::TextWordWrap|Qt::TextDontClip, m_Label);
}
if( m_Paused )
{
painter.setOpacity(0.8);
color = color.lighter(250);
painter.setPen(color);
painter.setBrush(BG_COLOR);
int pauseSize = qRound(0.6 * qMin(m_MetroRect.width(),m_MetroRect.height()));
QRect pauseRect( m_MetroRect.x() + qRound((m_MetroRect.width()-pauseSize)*0.5),
m_MetroRect.y() + qRound((m_MetroRect.height()-pauseSize)*0.5),
pauseSize,
pauseSize );
painter.drawRoundedRect(pauseRect, ROUNDED, ROUNDED);
int w = qRound(pauseSize * 0.35);
int h = qRound(pauseSize * 0.7);
pauseRect.adjust(w, h, -w, -h);
painter.setPen( QPen(color,pauseSize*0.1,Qt::SolidLine,Qt::RoundCap) );
painter.drawLine(pauseRect.left(), pauseRect.top(), pauseRect.left(), pauseRect.bottom());
painter.drawLine(pauseRect.right(), pauseRect.top(), pauseRect.right(), pauseRect.bottom());
}
}
void ExoplanetsDialog::populateDiagramsList()
{
Q_ASSERT(ui->comboAxisX);
Q_ASSERT(ui->comboAxisY);
QColor axisColor(Qt::white);
QPen axisPen(axisColor, 1);
ui->customPlot->setBackground(QBrush(QColor(86, 87, 90)));
ui->customPlot->xAxis->setLabelColor(axisColor);
ui->customPlot->xAxis->setTickLabelColor(axisColor);
ui->customPlot->xAxis->setBasePen(axisPen);
ui->customPlot->xAxis->setTickPen(axisPen);
ui->customPlot->xAxis->setSubTickPen(axisPen);
ui->customPlot->yAxis->setLabelColor(axisColor);
ui->customPlot->yAxis->setTickLabelColor(axisColor);
ui->customPlot->yAxis->setBasePen(axisPen);
ui->customPlot->yAxis->setTickPen(axisPen);
ui->customPlot->yAxis->setSubTickPen(axisPen);
QComboBox* axisX = ui->comboAxisX;
QComboBox* axisY = ui->comboAxisY;
//Save the current selection to be restored later
axisX->blockSignals(true);
axisY->blockSignals(true);
int indexX = axisX->currentIndex();
int indexY = axisY->currentIndex();
QVariant selectedAxisX = axisX->itemData(indexX);
QVariant selectedAxisY = axisY->itemData(indexY);
axisX->clear();
axisY->clear();
QList<axisPair> axis;
axis.append(qMakePair(q_("Orbital Eccentricity"), 0));
axis.append(qMakePair(q_("Orbit Semi-Major Axis, AU"), 1));
axis.append(qMakePair(q_("Planetary Mass, Mjup"), 2));
axis.append(qMakePair(q_("Planetary Radius, Rjup"), 3));
axis.append(qMakePair(q_("Orbital Period, days"), 4));
axis.append(qMakePair(q_("Angular Distance, arcsec"), 5));
axis.append(qMakePair(q_("Effective temperature of host star, K"), 6));
axis.append(qMakePair(q_("Year of Discovery"), 7));
axis.append(qMakePair(q_("Metallicity of host star"), 8));
axis.append(qMakePair(q_("V magnitude of host star, mag"), 9));
axis.append(qMakePair(q_("RA (J2000) of star, deg"), 10));
axis.append(qMakePair(q_("Dec (J2000) of star, deg"), 11));
axis.append(qMakePair(q_("Distance to star, pc"), 12));
axis.append(qMakePair(q_("Mass of host star, Msol"), 13));
axis.append(qMakePair(q_("Radius of host star, Rsol"), 14));
for(int i=0; i<axis.size(); ++i)
{
axisX->addItem(axis.at(i).first, axis.at(i).second);
axisY->addItem(axis.at(i).first, axis.at(i).second);
}
//Restore the selection
indexX = axisX->findData(selectedAxisX, Qt::UserRole, Qt::MatchCaseSensitive);
if (indexX<0)
indexX = 1;
indexY = axisY->findData(selectedAxisY, Qt::UserRole, Qt::MatchCaseSensitive);
if (indexY<0)
indexY = 0;
axisX->setCurrentIndex(indexX);
axisY->setCurrentIndex(indexY);
axisX->blockSignals(false);
axisY->blockSignals(false);
}
