bool TouchSensorRenderModel::initRenderModel() {
bool meshLoadingA = this->partA_->loadMesh(
RobogenUtils::getMeshFile(this->getModel(),
TouchSensorModel::B_SENSOR_BASE_ID));
if (!meshLoadingA) {
std::cerr << "[TouchSensorRenderModel] Error loading model"
<< std::endl;
return false;
}
if (isDebugActive()) {
this->showDebugView();
}
// PART A
osg::ref_ptr<osg::PositionAttitudeTransform> partA =
this->partA_->getMesh();
partA->setAttitude(RobogenUtils::getRelativeAttitude(this->getModel(),
TouchSensorModel::B_SENSOR_BASE_ID));
partA->setPosition(RobogenUtils::getRelativePosition(this->getModel(),
TouchSensorModel::B_SENSOR_BASE_ID));
partA_->setColor(osg::Vec4(1, 0, 0, 0.5));
osg::ref_ptr<osg::PositionAttitudeTransform> patPartA(
new osg::PositionAttitudeTransform());
patPartA->addChild(partA);
this->getMeshes()->addChild(patPartA.get());
patPartA->setUpdateCallback(
new BodyCallback(this->getModel(),
TouchSensorModel::B_SENSOR_BASE_ID));
if(isDebugActive()) {
this->activateTransparency(patPartA->getOrCreateStateSet());
}
return true;
}
bool TouchSensorRenderModel::initRenderModel() {
bool meshLoadingA = this->partA_->loadMesh("../models/TouchSensor.stl");
if (!meshLoadingA) {
std::cerr << "[TouchSensorRenderModel] Error loading model"
<< std::endl;
return false;
}
if (isDebugActive()) {
this->showDebugView();
return true;
}
// PART A
osg::ref_ptr<osg::PositionAttitudeTransform> partA =
this->partA_->getMesh();
partA->setAttitude(osg::Quat(osg::inDegrees(-90.0), osg::Vec3(0, 0, 1)));
partA->setPosition(
fromOde(
osg::Vec3(
TouchSensorModel::SENSOR_BASE_THICKNESS / 2
+ TouchSensorModel::SENSOR_THICKNESS / 2
- 0.002, 0, 0)));
partA_->setColor(osg::Vec4(1, 0, 0, 1));
osg::ref_ptr<osg::PositionAttitudeTransform> patPartA(
new osg::PositionAttitudeTransform());
patPartA->addChild(partA);
this->getRootNode()->addChild(patPartA.get());
patPartA->setUpdateCallback(
new BodyCallback(this->getModel(),
TouchSensorModel::B_SENSOR_BASE_ID));
return true;
}
bool ActiveCardanRenderModel::initRenderModel() {
bool meshLoadingA = this->partA_->loadMesh(
"../models/ActiveCardanHinge_Servo_Holder.stl");
if (!meshLoadingA) {
std::cerr << "[ActiveCardanRenderModel] Error loading model"
<< std::endl;
return false;
}
bool meshLoadingB = this->partB_->loadMesh(
"../models/ActiveCardanHinge_Servo_Holder.stl");
if (!meshLoadingB) {
std::cerr << "[ActiveCardanRenderModel] Error loading model"
<< std::endl;
return false;
}
bool meshLoadingC = this->patCross_->loadMesh(
"../models/ActiveCardan_CrossShaft.stl");
if (!meshLoadingC) {
std::cerr << "[ActiveCardanRenderModel] Error loading model"
<< std::endl;
return false;
}
if (isDebugActive()) {
this->showDebugView();
}
float meshCorrection = inMm(0.5);
// PART A
osg::ref_ptr<osg::PositionAttitudeTransform> partA =
this->partA_->getMesh();
partA_->setColor(osg::Vec4(1, 0, 0, 1));
partB_->setColor(osg::Vec4(0, 1, 0, 1));
partA->setPosition(
osg::Vec3(
fromOde(meshCorrection +
ActiveCardanModel::SLOT_THICKNESS
+ ActiveCardanModel::CONNNECTION_PART_LENGTH
/ 2), 0, 0));
partA->setAttitude(osg::Quat(osg::inDegrees(90.0), osg::Vec3(0, 0, 1)) *
osg::Quat(osg::inDegrees(90.0), osg::Vec3(1, 0, 0)));
osg::ref_ptr<osg::PositionAttitudeTransform> patPartA(
new osg::PositionAttitudeTransform());
patPartA->addChild(partA);
this->getRootNode()->addChild(patPartA.get());
patPartA->setUpdateCallback(
new BodyCallback(this->getModel(), ActiveCardanModel::B_SLOT_A_ID));
//attachAxis(patPartA);
// Cross
osg::ref_ptr<osg::PositionAttitudeTransform> cross =
this->patCross_->getMesh();
osg::ref_ptr<osg::PositionAttitudeTransform> patCross(
new osg::PositionAttitudeTransform());
patCross->addChild(cross.get());
this->getRootNode()->addChild(patCross.get());
patCross->setUpdateCallback(
new BodyCallback(this->getModel(),
ActiveCardanModel::B_CROSS_PART_A_ID));
//attachAxis(patCross);
// PART B
osg::ref_ptr<osg::PositionAttitudeTransform> partB =
this->partB_->getMesh();
partB->setPosition(
fromOde(
osg::Vec3(
-(meshCorrection + ActiveCardanModel::SLOT_THICKNESS
+ ActiveCardanModel::CONNNECTION_PART_LENGTH
/ 2), 0, 0)));
osg::Quat rotateY(osg::inDegrees(90.0), osg::Vec3(0, 1, 0));
osg::Quat rotateServoX(osg::inDegrees(90.0), osg::Vec3(1, 0, 0));
partB->setAttitude(rotateServoX * rotateY *
osg::Quat(osg::inDegrees(90.0), osg::Vec3(1, 0, 0)));
osg::ref_ptr<osg::PositionAttitudeTransform> patPartB(
new osg::PositionAttitudeTransform());
patPartB->addChild(partB.get());
this->getRootNode()->addChild(patPartB.get());
patPartB->setUpdateCallback(
new BodyCallback(this->getModel(), ActiveCardanModel::B_SLOT_B_ID));
//attachAxis(patPartB);
return true;
}
