void BoundingBoxMarker::create(const BoundingBox& bbox, const Vector3f& color, float transparency, double width)
{
SgShape* shape = new SgShape;
MeshGenerator meshGenerator;
shape->setMesh(meshGenerator.generateBox(Vector3(width, width, width)));
SgMaterial* material = shape->setMaterial(new SgMaterial);
material->setTransparency(transparency);
material->setDiffuseColor(color);
material->setEmissiveColor(color);
const double& x0 = bbox.min().x();
const double& x1 = bbox.max().x();
const double& y0 = bbox.min().y();
const double& y1 = bbox.max().y();
const double& z0 = bbox.min().z();
const double& z1 = bbox.max().z();
addMarker(shape, x0, y0, z0);
addMarker(shape, x0, y0, z1);
addMarker(shape, x0, y1, z0);
addMarker(shape, x0, y1, z1);
addMarker(shape, x1, y0, z0);
addMarker(shape, x1, y0, z1);
addMarker(shape, x1, y1, z0);
addMarker(shape, x1, y1, z1);
}
void HlModel::SetTextures( SgNode *pNode, BtU32 index, RsTexture *pTexture )
{
// Cache the materials
SgMaterial* pMaterials = pNode->pMaterial();
// Cache the number of materials
BtU32 numMaterials = pMaterials->NumMaterials();
for( BtU32 i=0; i<numMaterials; i++)
{
// Cache the material
RsMaterial* pMaterial = pMaterials->GetMaterial( i );
// Set the texture
pMaterial->SetTexture( index, pTexture );
}
// Cache the first child
SgNode* pChild = pNode->pFirstChild();
// Loop through the children
while( pChild != BtNull )
{
// Set the materials
SetTextures( pChild, index, pTexture );
// Move to the next child
pChild = pChild->pNextSibling();
}
}
void HlModel::SetSortOrders( SgNode *pNode, BtU32 sortOrder )
{
if( pNode->HasMaterials() )
{
SgMaterial* pMaterials = pNode->pMaterial();
// Cache the number of materials
BtU32 numMaterials = pMaterials->NumMaterials();
for( BtU32 i=0; i<numMaterials; i++)
{
// Cache the material
RsMaterial* pMaterial = pMaterials->GetMaterial( i );
// Set the sort order
pMaterial->SetSortOrder( sortOrder );
// Set the material
pMaterials->SetMaterial( i, pMaterial );
}
}
// Cache the first child
SgNode* pChild = pNode->pFirstChild();
// Loop through the children
while( pChild != BtNull )
{
// Set the materials
SetSortOrders( pChild, sortOrder );
// Move to the next child
pChild = pChild->pNextSibling();
}
}
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;
}
TranslationDragger::TranslationDragger(bool setDefaultAxes)
{
draggableAxes_ = TX | TY | TZ;
axisCylinderNormalizedRadius = 0.04;
defaultAxesScale = new SgScaleTransform;
customAxes = new SgGroup;
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);
axisMaterials[i] = material;
}
if(setDefaultAxes){
MeshGenerator meshGenerator;
SgMeshPtr mesh = meshGenerator.generateArrow(1.8, 0.08, 0.1, 2.5);
for(int i=0; i < 3; ++i){
SgShape* shape = new SgShape;
shape->setMesh(mesh);
shape->setMaterial(axisMaterials[i]);
SgPosTransform* arrow = new SgPosTransform;
arrow->addChild(shape);
if(i == 0){
arrow->setRotation(AngleAxis(-PI / 2.0, Vector3::UnitZ()));
} else if(i == 2){
arrow->setRotation(AngleAxis( PI / 2.0, Vector3::UnitX()));
}
SgInvariantGroup* invariant = new SgInvariantGroup;
invariant->setName(axisNames[i]);
invariant->addChild(arrow);
SgSwitch* axis = new SgSwitch;
axis->addChild(invariant);
defaultAxesScale->addChild(axis);
}
addChild(defaultAxesScale);
}
isContainerMode_ = false;
}
void HlModel::SetMaterialTechnique( SgNode *pNode, const BtChar *technique )
{
if( pNode->GetMesh() )
{
// Cache the materials
SgMaterial* pMaterials = pNode->pMaterial();
// Cache the number of materials
BtU32 numMaterials = pMaterials->NumMaterials();
for( BtU32 i=0; i<numMaterials; i++)
{
// Cache the material
RsMaterial* pMaterial = pMaterials->GetMaterial( i )->GetDuplicate();
// Cache the current technique name
BtChar *currentTechniqueName = pMaterial->GetTechniqueName();
(void)currentTechniqueName;
// Set the technique name
pMaterial->SetTechniqueName( technique );
// Set the material
pMaterials->SetMaterial( i, pMaterial );
}
}
// Cache the first child
SgNode* pChild = pNode->pFirstChild();
// Loop through the children
while( pChild != BtNull )
{
// Set the materials
SetMaterialTechnique( pChild, technique );
// Move to the next child
pChild = pChild->pNextSibling();
}
}
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;
}