//==============================================================================
void LineSegmentShapeDrawable::refresh(bool firstTime)
{
if(mLineSegmentShape->getDataVariance() == dart::dynamics::Shape::STATIC)
setDataVariance(osg::Object::STATIC);
else
setDataVariance(osg::Object::DYNAMIC);
const std::vector<Eigen::Vector3d>& vertices =
mLineSegmentShape->getVertices();
const Eigen::aligned_vector<Eigen::Vector2i>& connections =
mLineSegmentShape->getConnections();
if( mLineSegmentShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_ELEMENTS)
|| firstTime)
{
osg::ref_ptr<osg::DrawElementsUInt> elements =
new osg::DrawElementsUInt(GL_LINES);
elements->reserve(2*connections.size());
for(size_t i=0; i < connections.size(); ++i)
{
const Eigen::Vector2i& c = connections[i];
elements->push_back(c[0]);
elements->push_back(c[1]);
}
addPrimitiveSet(elements);
}
if( mLineSegmentShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_VERTICES)
|| mLineSegmentShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_ELEMENTS)
|| firstTime)
{
if(mVertices->size() != vertices.size())
mVertices->resize(vertices.size());
for(size_t i=0; i<vertices.size(); ++i)
(*mVertices)[i] = eigToOsgVec3(vertices[i]);
setVertexArray(mVertices);
}
if( mLineSegmentShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_COLOR)
|| firstTime)
{
if(mColors->size() != 1)
mColors->resize(1);
(*mColors)[0] = eigToOsgVec4(mLineSegmentShape->getRGBA());
setColorArray(mColors, osg::Array::BIND_OVERALL);
}
}
//==============================================================================
void BoxShapeDrawable::refresh(bool firstTime)
{
if(mBoxShape->getDataVariance() == dart::dynamics::Shape::STATIC)
setDataVariance(osg::Object::STATIC);
else
setDataVariance(osg::Object::DYNAMIC);
if(mBoxShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_PRIMITIVE)
|| firstTime)
{
const Eigen::Vector3d& d = mBoxShape->getSize();
osg::ref_ptr<osg::Box> osg_shape = new osg::Box(osg::Vec3(0,0,0),
d[0], d[1], d[2]);
setShape(osg_shape);
dirtyDisplayList();
}
if(mBoxShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_COLOR)
|| firstTime)
{
setColor(eigToOsgVec4(mBoxShape->getRGBA()));
}
}
//==============================================================================
void CylinderShapeDrawable::refresh(bool firstTime)
{
if(mCylinderShape->getDataVariance() == dart::dynamics::Shape::STATIC)
setDataVariance(osg::Object::STATIC);
else
setDataVariance(osg::Object::DYNAMIC);
if(mCylinderShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_PRIMITIVE)
|| firstTime)
{
double R = mCylinderShape->getRadius();
double h = mCylinderShape->getHeight();
osg::ref_ptr<osg::Cylinder> osg_shape =
new osg::Cylinder(osg::Vec3(0,0,0), R, h);
setShape(osg_shape);
dirtyDisplayList();
}
if(mCylinderShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_COLOR)
|| firstTime)
{
setColor(eigToOsgVec4(mCylinderShape->getRGBA()));
}
}
//==============================================================================
void EllipsoidShapeDrawable::refresh(bool firstTime)
{
if(mEllipsoidShape->getDataVariance() == dart::dynamics::Shape::STATIC)
setDataVariance(::osg::Object::STATIC);
else
setDataVariance(::osg::Object::DYNAMIC);
if(mEllipsoidShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_PRIMITIVE)
|| firstTime)
{
::osg::ref_ptr<::osg::Sphere> osg_shape = nullptr;
osg_shape = new ::osg::Sphere(::osg::Vec3(0,0,0),
0.5*smallestComponent(mEllipsoidShape->getSize()));
setShape(osg_shape);
dirtyDisplayList();
}
if(mEllipsoidShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_COLOR)
|| firstTime)
{
setColor(eigToOsgVec4(mVisualAspect->getRGBA()));
}
}
