ForceSensorVisualizerItem::ForceSensorVisualizerItem()
: SensorVisualizerItemBase(this)
{
setName("ForceSensor");
scene = new SgGroup;
SgMaterial* material = new SgMaterial;
Vector3f color(1.0f, 0.2f, 0.2f);
material->setDiffuseColor(Vector3f::Zero());
material->setEmissiveColor(color);
material->setAmbientIntensity(0.0f);
material->setTransparency(0.6f);
MeshGenerator meshGenerator;
cone = new SgShape;
cone->setMesh(meshGenerator.generateCone(0.03, 0.04));
cone->setMaterial(material);
cylinder = new SgShape;
cylinder->setMesh(meshGenerator.generateCylinder(0.01, 1.0));
cylinder->setMaterial(material);
visualRatio = 0.002;
}
RotationDragger::RotationDragger()
{
draggableAxes_ = RX | RY | RZ;
MeshGenerator meshGenerator;
meshGenerator.setDivisionNumber(36);
SgMeshPtr beltMesh1 = meshGenerator.generateDisc(1.0, 1.0 - 0.2);
meshGenerator.setDivisionNumber(24);
SgMeshPtr beltMesh2 = meshGenerator.generateCylinder(1.0, 0.2, false, false);
scale = new SgScaleTransform;
// make dragger belts
for(int i=0; i < 3; ++i){
SgMaterial* material = new SgMaterial;
Vector3f color(0.2f, 0.2f, 0.2f);
color[i] = 1.0f;
material->setDiffuseColor(Vector3f::Zero());
material->setEmissiveColor(color);
material->setAmbientIntensity(0.0f);
material->setTransparency(0.6f);
SgShape* beltShape1 = new SgShape;
beltShape1->setMesh(beltMesh1);
beltShape1->setMaterial(material);
SgShape* beltShape2 = new SgShape;
beltShape2->setMesh(beltMesh2);
beltShape2->setMaterial(material);
ViewpointDependentRenderingSelector* selector = new ViewpointDependentRenderingSelector;
SgPosTransform* transform1 = new SgPosTransform;
if(i == 0){ // x-axis
selector->setAxis(Vector3::UnitX());
transform1->setRotation(AngleAxis(PI / 2.0, Vector3::UnitY()));
} else if(i == 1){ // y-axis
selector->setAxis(Vector3::UnitY());
transform1->setRotation(AngleAxis(-PI / 2.0, Vector3::UnitX()));
} else if(i == 2) { // z-axis
selector->setAxis(Vector3::UnitZ());
}
transform1->addChild(beltShape1);
SgInvariantGroup* belt1 = new SgInvariantGroup;
belt1->setName(axisNames[i]);
belt1->addChild(transform1);
selector->addChild(belt1);
SgPosTransform* transform2 = new SgPosTransform;
if(i == 0){ // x-axis
transform2->setRotation(AngleAxis(-PI / 2.0, Vector3::UnitZ()));
} else if(i == 2) { // z-axis
transform2->setRotation(AngleAxis(PI / 2.0, Vector3::UnitX()));
}
transform2->addChild(beltShape2);
SgInvariantGroup* belt2 = new SgInvariantGroup;
belt2->setName(axisNames[i]);
belt2->addChild(transform2);
selector->addChild(belt2);
SgSwitch* axis = new SgSwitch;
axis->addChild(selector);
scale->addChild(axis);
}
addChild(scale);
isContainerMode_ = false;
}