//------------------------------------------------------------------------------
// GENERATE DECORATIONS
//------------------------------------------------------------------------------
// The GeometryPath takes care of drawing itself here, using information it
// can extract from the supplied state, including position information and
// color information that may have been calculated as late as Stage::Dynamics.
// For example, muscles may want the color to reflect activation level and
// other path-using components might want to use forces (tension). We will
// ensure that the state has been realized to Stage::Dynamics before looking
// at it. (It is only guaranteed to be at Stage::Position here.)
void GeometryPath::
generateDecorations(bool fixed, const ModelDisplayHints& hints,
const SimTK::State& state,
SimTK::Array_<SimTK::DecorativeGeometry>& appendToThis) const
{
// There is no fixed geometry to generate here.
if (fixed) { return; }
// Ensure that the state has been realized to Stage::Dynamics to give
// clients of this path a chance to calculate meaningful color information.
this->getModel().getMultibodySystem().realize(state, SimTK::Stage::Dynamics);
this->updateDisplayPath(state);
// Even though these are Points which are Components they are completey
// orphaned and not part of any system since they are populated during
// a simulation. TODO we need another data structure to be a DecorativePath
// which simply an array of points in ground or on MBs.
// Trying to getLocationInGround(state) will faile due to no underlying system.
const Array<PathPoint*>& points = getCurrentDisplayPath(state);
if (points.getSize() == 0) { return; }
const PathPoint* lastPoint = points[0];
MobilizedBodyIndex mbix(0);
Vec3 lastPos = lastPoint->getLocationInGround(state);
if (hints.get_show_path_points())
DefaultGeometry::drawPathPoint(mbix, lastPos, getColor(state), appendToThis);
Vec3 pos;
for (int j = 1; j < points.getSize(); j++) {
const PathPoint* point = points[j];
// the body (PhysicalFrame) IS part of the actual Model and its system
// so we can ask it for its transform w.r.t. Ground
pos = point->getBody().getTransformInGround(state)*point->getLocation();
if (hints.get_show_path_points())
DefaultGeometry::drawPathPoint(mbix, pos, getColor(state), appendToThis);
// Line segments will be in ground frame
appendToThis.push_back(DecorativeLine(lastPos, pos)
.setLineThickness(4)
.setColor(getColor(state)).setBodyId(0).setIndexOnBody(j));
lastPos = pos;
}
}
// 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()));
}
}
void Marker::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_markers()) return;
// @TODO default color, size, shape should be obtained from hints
const Vec3 color = hints.get_marker_color();
const OpenSim::PhysicalFrame& frame = getParentFrame();
//const Frame& bf = frame.findBaseFrame();
//SimTK::Transform bTrans = frame.findTransformInBaseFrame();
//const Vec3& p_BM = bTrans*get_location();
appendToThis.push_back(
SimTK::DecorativeSphere(.01).setBodyId(frame.getMobilizedBodyIndex())
.setColor(color).setOpacity(1.0)
.setTransform(get_location()));
}
// 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()));
}
}
