void RobotVisualization::setModelFile(QString modelFile)
{
//Extact file extension
QStringList tokens = modelFile.split(QChar('.'));
QString ext = tokens.back();
LOG_INFO("loading %s", modelFile.toLatin1().data());
bool st;
st = load(modelFile);
if(!st)
LOG_FATAL_S << "cannot load " << modelFile.toStdString()
<< ", it either does not exist or is not a proper robot model file";
else
_modelFile = modelFile;
//emit propertyChanged("modelFile");
// Now create a RBS visualization for each of the frames in the model
deleteFrameVisualizers();
vector<string> segments = getSegmentNames();
for (std::size_t i = 0; i != segments.size(); ++i)
{
OSGSegment* segment = getSegment(segments[i]);
assert(segment);
vizkit3d::RigidBodyStateVisualization* frame =
new vizkit3d::RigidBodyStateVisualization(this);
frame->setPluginName(QString::fromStdString(segments[i]));
osg::ref_ptr<osg::Group> frame_attachment = frame->getRootNode();
osg::ref_ptr<osg::StateSet> state = frame_attachment->getOrCreateStateSet();
state->setMode(GL_DEPTH_TEST, osg::StateAttribute::OFF);
segment->getGroup()->addChild(frame_attachment);
_frameVisualizers[segments[i]] = frame;
}
setFramesEnabled(areFramesEnabled());
setSegmentNamesEnabled(areSegmentNamesEnabled());
emit childrenChanged();
}
void RobotVisualization::createFrameVisualizers()
{
deleteFrameVisualizers();
vector<string> segments = getSegmentNames();
for (std::size_t i = 0; i != segments.size(); ++i)
{
OSGSegment* segment = getSegment(segments[i]);
assert(segment);
vizkit3d::RigidBodyStateVisualization* frame =
new vizkit3d::RigidBodyStateVisualization(this);
frame->setPluginName(QString::fromStdString(segments[i]));
osg::ref_ptr<osg::Group> frame_attachment = frame->getRootNode();
osg::ref_ptr<osg::StateSet> state = frame_attachment->getOrCreateStateSet();
state->setMode(GL_DEPTH_TEST, osg::StateAttribute::OFF);
segment->getGroup()->addChild(frame_attachment);
_frameVisualizers[segments[i]] = frame;
}
setFramesEnabled(areFramesEnabled());
setSegmentNamesEnabled(areSegmentNamesEnabled());
emit childrenChanged();
}
