// Implement generateDecorations by WrapCylinder to replace the previous out of place implementation
// in ModelVisualizer
void WrapCylinder::generateDecorations(bool fixed, const ModelDisplayHints& hints, const SimTK::State& state,
SimTK::Array_<SimTK::DecorativeGeometry>& appendToThis) const
{
Super::generateDecorations(fixed, hints, state, appendToThis);
if (fixed) return;
if (hints.get_show_wrap_geometry()) {
const Appearance& defaultAppearance = get_Appearance();
if (!defaultAppearance.get_visible()) return;
const Vec3 color = defaultAppearance.get_color();
SimTK::Transform ztoy;
// Make transform that takes z axis to y axis due to different
// assumptions between DecorativeCylinder aligned with y and
// WrapCylinder aligned with z
ztoy.updR().setRotationFromAngleAboutX(SimTK_PI / 2);
const SimTK::Transform& X_GB = getFrame().getTransformInGround(state);
SimTK::Transform X_GW = X_GB*getTransform()*ztoy;
appendToThis.push_back(
SimTK::DecorativeCylinder(get_radius(),
get_length() / 2)
.setTransform(X_GW).setResolution(2.0)
.setColor(color).setOpacity(defaultAppearance.get_opacity())
.setScale(1).setRepresentation(defaultAppearance.get_representation()));
}
}
// Implement generateDecorations by WrapEllipsoid to replace the previous out of place implementation
// in ModelVisualizer
void WrapEllipsoid::generateDecorations(bool fixed, const ModelDisplayHints& hints, const SimTK::State& state,
SimTK::Array_<SimTK::DecorativeGeometry>& appendToThis) const
{
Super::generateDecorations(fixed, hints, state, appendToThis);
if (fixed) return;
if (hints.get_show_wrap_geometry()) {
const Vec3 color(SimTK::Cyan);
const SimTK::Transform& X_GB = getFrame().getTransformInGround(state);
SimTK::Transform X_GW = X_GB*getTransform();
appendToThis.push_back(
SimTK::DecorativeEllipsoid(getRadii())
.setTransform(X_GW).setResolution(2.0)
.setColor(color).setOpacity(0.5));
}
}
// Implement generateDecorations by WrapTorus to replace the previous out of place implementation
// in ModelVisualizer, not implemented yet in API visualizer
void WrapTorus::generateDecorations(bool fixed, const ModelDisplayHints& hints, const SimTK::State& state,
SimTK::Array_<SimTK::DecorativeGeometry>& appendToThis) const {
Super::generateDecorations(fixed, hints, state, appendToThis);
if (fixed) return;
if (hints.get_show_wrap_geometry()) {
const Appearance& defaultAppearance = get_Appearance();
if (!defaultAppearance.get_visible()) return;
const Vec3 color = defaultAppearance.get_color();
const SimTK::Transform& X_GB = getFrame().getTransformInGround(state);
SimTK::Transform X_GW = X_GB*getTransform();
appendToThis.push_back(
SimTK::DecorativeTorus(getOuterRadius(),
getInnerRadius())
.setTransform(X_GW).setResolution(2.0)
.setColor(color).setOpacity(defaultAppearance.get_opacity())
.setScale(1).setRepresentation(defaultAppearance.get_representation()));
}
}