void BodyCallback::operator()(osg::Node* node, osg::NodeVisitor* nv) {
osg::ref_ptr<osg::PositionAttitudeTransform> pat =
node->asTransform()->asPositionAttitudeTransform();
pat->setAttitude(model_.lock()->getBodyAttitude(bodyId_));
pat->setPosition(fromOde(model_.lock()->getBodyPosition(bodyId_)));
traverse(node, nv);
}
bool TouchSensorRenderModel::initRenderModel() {
bool meshLoadingA = this->partA_->loadMesh("../models/TouchSensor.stl");
if (!meshLoadingA) {
std::cerr << "[TouchSensorRenderModel] Error loading model"
<< std::endl;
return false;
}
if (isDebugActive()) {
this->showDebugView();
return true;
}
// PART A
osg::ref_ptr<osg::PositionAttitudeTransform> partA =
this->partA_->getMesh();
partA->setAttitude(osg::Quat(osg::inDegrees(-90.0), osg::Vec3(0, 0, 1)));
partA->setPosition(
fromOde(
osg::Vec3(
TouchSensorModel::SENSOR_BASE_THICKNESS / 2
+ TouchSensorModel::SENSOR_THICKNESS / 2
- 0.002, 0, 0)));
partA_->setColor(osg::Vec4(1, 0, 0, 1));
osg::ref_ptr<osg::PositionAttitudeTransform> patPartA(
new osg::PositionAttitudeTransform());
patPartA->addChild(partA);
this->getRootNode()->addChild(patPartA.get());
patPartA->setUpdateCallback(
new BodyCallback(this->getModel(),
TouchSensorModel::B_SENSOR_BASE_ID));
return true;
}
bool ActiveHingeRenderModel::initRenderModel() {
bool meshLoadingA = this->partA_->loadMesh("../models/ActiveHinge_Frame.stl");
if (!meshLoadingA) {
std::cerr << "[ActiveHingeRenderModel] Error loading model"
<< std::endl;
return false;
}
bool meshLoadingB = this->partB_->loadMesh(
"../models/ActiveCardanHinge_Servo_Holder.stl");
if (!meshLoadingB) {
std::cerr << "[ActiveHingeRenderModel] Error loading model"
<< std::endl;
return false;
}
if (isDebugActive()) {
this->showDebugView();
}
// PART A
osg::ref_ptr<osg::PositionAttitudeTransform> frame =
this->partA_->getMesh();
partA_->setColor(osg::Vec4(1, 0, 0, 0.5));
partB_->setColor(osg::Vec4(0, 1, 0, 0.5));
// x = 0 is midpoint of slot, so -SLOT_THICKNESS/2 is edge of frame
// and frame is (FRAME_LENGTH + SLOT_THICKNESS) long
// so (FRAME_LENGTH + SLOT_THICKNESS)/2 -SLOT_THICKNESS/2 =
// FRAME_LENGTH/2
frame->setPosition(
fromOde(
osg::Vec3(
ActiveHingeModel::FRAME_LENGTH / 2,
ActiveHingeModel::SERVO_POSITION_OFFSET,
0)));
frame->setAttitude(osg::Quat(osg::inDegrees(180.0), osg::Vec3(1, 0, 0)));
osg::ref_ptr<osg::PositionAttitudeTransform> patFrame(
new osg::PositionAttitudeTransform());
patFrame->addChild(frame);
this->getMeshes()->addChild(patFrame.get());
patFrame->setUpdateCallback(
new BodyCallback(this->getModel(), ActiveHingeModel::B_SLOT_A_ID));
// PART B
//float servoMeshCorrection = inMm(3.2);
// x = 0 is midpoint of slot so SLOT_THICKNESS/2 is edge of servo
// and servo is SERVO_LENGTH + SLOT_THICKNESS long
// so -(SERVO_LENGTH + SLOT_THICKNESS)/2 + SLOT_THICKNESS/2
// = -(SERVO_LENGTH)/2
osg::ref_ptr<osg::PositionAttitudeTransform> servo =
this->partB_->getMesh();
servo->setPosition(
fromOde(
osg::Vec3(-(ActiveHingeModel::SERVO_LENGTH) / 2, 0,
0)));
servo->setAttitude(osg::Quat(osg::inDegrees(270.0), osg::Vec3(1, 0, 0)));
osg::ref_ptr<osg::PositionAttitudeTransform> patServo(
new osg::PositionAttitudeTransform());
patServo->addChild(servo.get());
this->getMeshes()->addChild(patServo.get());
patServo->setUpdateCallback(
new BodyCallback(this->getModel(), ActiveHingeModel::B_SLOT_B_ID));
if(isDebugActive()) {
this->activateTransparency(patFrame->getOrCreateStateSet());
this->activateTransparency(patServo->getOrCreateStateSet());
}
return true;
}
bool ActiveCardanRenderModel::initRenderModel() {
bool meshLoadingA = this->partA_->loadMesh(
"../models/ActiveCardanHinge_Servo_Holder.stl");
if (!meshLoadingA) {
std::cerr << "[ActiveCardanRenderModel] Error loading model"
<< std::endl;
return false;
}
bool meshLoadingB = this->partB_->loadMesh(
"../models/ActiveCardanHinge_Servo_Holder.stl");
if (!meshLoadingB) {
std::cerr << "[ActiveCardanRenderModel] Error loading model"
<< std::endl;
return false;
}
bool meshLoadingC = this->patCross_->loadMesh(
"../models/ActiveCardan_CrossShaft.stl");
if (!meshLoadingC) {
std::cerr << "[ActiveCardanRenderModel] Error loading model"
<< std::endl;
return false;
}
if (isDebugActive()) {
this->showDebugView();
}
float meshCorrection = inMm(0.5);
// PART A
osg::ref_ptr<osg::PositionAttitudeTransform> partA =
this->partA_->getMesh();
partA_->setColor(osg::Vec4(1, 0, 0, 1));
partB_->setColor(osg::Vec4(0, 1, 0, 1));
partA->setPosition(
osg::Vec3(
fromOde(meshCorrection +
ActiveCardanModel::SLOT_THICKNESS
+ ActiveCardanModel::CONNNECTION_PART_LENGTH
/ 2), 0, 0));
partA->setAttitude(osg::Quat(osg::inDegrees(90.0), osg::Vec3(0, 0, 1)) *
osg::Quat(osg::inDegrees(90.0), osg::Vec3(1, 0, 0)));
osg::ref_ptr<osg::PositionAttitudeTransform> patPartA(
new osg::PositionAttitudeTransform());
patPartA->addChild(partA);
this->getRootNode()->addChild(patPartA.get());
patPartA->setUpdateCallback(
new BodyCallback(this->getModel(), ActiveCardanModel::B_SLOT_A_ID));
//attachAxis(patPartA);
// Cross
osg::ref_ptr<osg::PositionAttitudeTransform> cross =
this->patCross_->getMesh();
osg::ref_ptr<osg::PositionAttitudeTransform> patCross(
new osg::PositionAttitudeTransform());
patCross->addChild(cross.get());
this->getRootNode()->addChild(patCross.get());
patCross->setUpdateCallback(
new BodyCallback(this->getModel(),
ActiveCardanModel::B_CROSS_PART_A_ID));
//attachAxis(patCross);
// PART B
osg::ref_ptr<osg::PositionAttitudeTransform> partB =
this->partB_->getMesh();
partB->setPosition(
fromOde(
osg::Vec3(
-(meshCorrection + ActiveCardanModel::SLOT_THICKNESS
+ ActiveCardanModel::CONNNECTION_PART_LENGTH
/ 2), 0, 0)));
osg::Quat rotateY(osg::inDegrees(90.0), osg::Vec3(0, 1, 0));
osg::Quat rotateServoX(osg::inDegrees(90.0), osg::Vec3(1, 0, 0));
partB->setAttitude(rotateServoX * rotateY *
osg::Quat(osg::inDegrees(90.0), osg::Vec3(1, 0, 0)));
osg::ref_ptr<osg::PositionAttitudeTransform> patPartB(
new osg::PositionAttitudeTransform());
patPartB->addChild(partB.get());
this->getRootNode()->addChild(patPartB.get());
patPartB->setUpdateCallback(
new BodyCallback(this->getModel(), ActiveCardanModel::B_SLOT_B_ID));
//attachAxis(patPartB);
return true;
}
TerrainRender::TerrainRender(boost::shared_ptr<Terrain> terrain) {
rootNode_ = osg::ref_ptr<osg::PositionAttitudeTransform>(
new osg::PositionAttitudeTransform);
if (terrain->isFlat()) {
// Generate a flat terrain
osg::ref_ptr<osg::Shape> shape(
new osg::Box(osg::Vec3(0, 0, -2.5),
fromOde(terrain->getWidth()),
fromOde(terrain->getDepth()), 5));
osg::ref_ptr<osg::ShapeDrawable> osgPlaneDrawable(
new osg::ShapeDrawable(shape.get()));
osg::ref_ptr<osg::Geode> osgGroundGeode(new osg::Geode());
osgGroundGeode->addDrawable(osgPlaneDrawable.get());
rootNode_->addChild(osgGroundGeode);
} else {
// Generate terrain from height field
// 1) Load the height field
unsigned int xPointsCount = terrain->getHeightFieldData()->s();
unsigned int yPointsCount = terrain->getHeightFieldData()->t();
osg::ref_ptr<osg::HeightField> heightField(new osg::HeightField);
heightField->allocate(xPointsCount, yPointsCount);
heightField->setOrigin(osg::Vec3(0, 0, 0));
heightField->setXInterval(fromOde(terrain->getWidth()) / xPointsCount);
heightField->setXInterval(fromOde(terrain->getDepth()) / yPointsCount);
heightField->setSkirtHeight(1.0f);
// Copy height information to the glfloat array
for (unsigned int i = 0; i < xPointsCount; ++i) {
for (unsigned int j = 0; j < yPointsCount; ++j) {
heightField->setHeight(i, j,
((*terrain->getHeightFieldData()->data(i, j)) / 255.0)
* fromOde(terrain->getHeightFieldHeight())/2);
}
}
// Create a terrain tile
osg::ref_ptr<osgTerrain::Locator> terrainTileLocator(
new osgTerrain::Locator());
terrainTileLocator->setCoordinateSystemType(
osgTerrain::Locator::PROJECTED);
terrainTileLocator->setTransformAsExtents(-fromOde(terrain->getWidth())/2, -fromOde(terrain->getDepth())/2,
fromOde(terrain->getWidth())/2, fromOde(terrain->getDepth())/2);
osg::ref_ptr<osgTerrain::HeightFieldLayer> heightFieldLayer =
new osgTerrain::HeightFieldLayer(heightField.get());
heightFieldLayer->setLocator(terrainTileLocator);
osg::ref_ptr<osgTerrain::GeometryTechnique> terrainGeomTechnique(
new osgTerrain::GeometryTechnique());
osg::ref_ptr<osgTerrain::TerrainTile> terrainTile(
new osgTerrain::TerrainTile());
terrainTile->setElevationLayer(heightFieldLayer.get());
terrainTile->setTerrainTechnique(terrainGeomTechnique.get());
// Generate an OSG terrain object
osg::ref_ptr<osgTerrain::Terrain> osgTerrain(new osgTerrain::Terrain());
osgTerrain->setSampleRatio(1.0f);
osgTerrain->addChild(terrainTile.get());
rootNode_->addChild(osgTerrain.get());
// Uncomment to debug terrain
/*double minX, minY, minZ, maxX, maxY, maxZ;
terrain->getBB(minX, maxX, minY, maxY, minZ, maxZ);
std::cout
<< "Terrain AABB(minX, maxX, minY, maxY, minZ, maxZ) ("
<< minX << ", " << maxX << ", " << minY << ", " << maxY << ", "
<< minZ << ", " << maxZ << ")" << std::endl;
osg::ref_ptr<osg::Shape> shape(
new osg::Box(osg::Vec3(fromOde(minX + (maxX-minX)/2),
fromOde(minY + (maxY-minY)/2), fromOde(minZ +(maxZ-minZ))/2),
fromOde(maxX-minX),
fromOde(maxY-minY), fromOde(maxZ-minZ)));
osg::ref_ptr<osg::ShapeDrawable> osgPlaneDrawable(
new osg::ShapeDrawable(shape.get()));
osg::ref_ptr<osg::Geode> osgGroundGeode(new osg::Geode());
osgGroundGeode->addDrawable(osgPlaneDrawable.get());
rootNode_->addChild(osgGroundGeode);*/
}
}
bool ActiveHingeRenderModel::initRenderModel() {
bool meshLoadingA = this->partA_->loadMesh("../models/ActiveHinge_Frame.stl");
if (!meshLoadingA) {
std::cerr << "[ActiveHingeRenderModel] Error loading model"
<< std::endl;
return false;
}
bool meshLoadingB = this->partB_->loadMesh(
"../models/ActiveCardanHinge_Servo_Holder.stl");
if (!meshLoadingB) {
std::cerr << "[ActiveHingeRenderModel] Error loading model"
<< std::endl;
return false;
}
if (isDebugActive()) {
this->showDebugView();
return true;
}
// PART A
osg::ref_ptr<osg::PositionAttitudeTransform> frame =
this->partA_->getMesh();
partA_->setColor(osg::Vec4(1, 0, 0, 1));
partB_->setColor(osg::Vec4(0, 1, 0, 1));
frame->setPosition(
fromOde(
osg::Vec3(
ActiveHingeModel::FRAME_LENGTH / 2 -
ActiveHingeModel::SLOT_THICKNESS, 0,
0)));
frame->setAttitude(osg::Quat(osg::inDegrees(90.0), osg::Vec3(1, 0, 0)));
osg::ref_ptr<osg::PositionAttitudeTransform> patFrame(
new osg::PositionAttitudeTransform());
patFrame->addChild(frame);
this->getRootNode()->addChild(patFrame.get());
patFrame->setUpdateCallback(
new BodyCallback(this->getModel(), ActiveHingeModel::B_SLOT_A_ID));
// PART B
float servoMeshCorrection = inMm(2.2);
osg::ref_ptr<osg::PositionAttitudeTransform> servo =
this->partB_->getMesh();
servo->setPosition(
fromOde(
osg::Vec3(
-(ActiveHingeModel::SERVO_LENGTH / 2) - servoMeshCorrection, 0,
0)));
servo->setAttitude(osg::Quat(osg::inDegrees(90.0), osg::Vec3(0, 0, 1)) *
osg::Quat(osg::inDegrees(180.0), osg::Vec3(0, 1, 0)));
osg::ref_ptr<osg::PositionAttitudeTransform> patServo(
new osg::PositionAttitudeTransform());
patServo->addChild(servo.get());
this->getRootNode()->addChild(patServo.get());
patServo->setUpdateCallback(
new BodyCallback(this->getModel(), ActiveHingeModel::B_SLOT_B_ID));
return true;
}
