static SoSeparator *arrowGeom(ScaleAxisArrow::AxisEnum axis, SoScale *antiScale, bool mirrored)
{
SoSeparator *root = new SoSeparator();
SoText2 *label = new SoText2();
label->justification = SoText2::CENTER;
if (axis == ScaleAxisArrow::AXIS_X) {
label->string.setValue(mirrored ? "-X" : "+X");
} else if (axis == ScaleAxisArrow::AXIS_Y) {
label->string.setValue(mirrored ? "-Y" : "+Y");
} else if (axis == ScaleAxisArrow::AXIS_Z) {
label->string.setValue(mirrored ? "-Z" : "+Z");
}
float mul = mirrored ? -1.0f : 1.0f;
// lines
float verts[][3] = {
// from origin to bottom of cone
{0, 0, 0},
{0, mul * CUBE_OFFS, 0},
};
SoCoordinate3 *coords = new SoCoordinate3();
coords->point.setValues(0, 2, verts);
root->addChild(coords);
int indices[] = {
0, 1, SO_END_LINE_INDEX,
};
SoIndexedLineSet *lines = new SoIndexedLineSet();
lines->coordIndex.setValues(0, 3, indices);
root->addChild(lines);
// cube translation
SoTranslation *xlat = new SoTranslation();
xlat->translation.setValue(0, mul * CUBE_OFFS, 0);
root->addChild(xlat);
// to keep the cubes from scaling (ultimately handled/set by parent ScaleWidget)
root->addChild(antiScale);
SoCube *cube = new SoCube();
cube->width = cube->height = cube->depth = 0.35;
root->addChild(cube);
// axis label translation
SoTranslation *xlat2 = new SoTranslation();
xlat2->translation.setValue(0, mul * (CUBE_HEIGHT/2+0.2), 0);
root->addChild(xlat2);
root->addChild(label);
return root;
}
int
main(int argc, char ** argv)
{
QWidget * w = SoQt::init(argc, argv, "SoQtColorEditor");
SoQtExaminerViewer * viewer = new SoQtExaminerViewer(w);
SoSeparator * root;
viewer->setSceneGraph(root = makescene());
viewer->show();
// we want ColorEditor in scene
SoSeparator * editorscene = new SoSeparator;
SoTranslation * trans = new SoTranslation;
trans->translation.setValue(SbVec3f(2.0f, 0.0f, 0.0f));
SoRotationXYZ * rot = new SoRotationXYZ;
SoMaterial * mat = new SoMaterial;
mat->diffuseColor.setValue(0.8, 0.8, 0.8);
rot->axis = SoRotationXYZ::Y;
rot->angle = 0.5;
editorscene->addChild(trans);
editorscene->addChild(rot);
editorscene->addChild(mat);
SoGuiColorEditor * inscene = new SoGuiColorEditor;
inscene->wysiwyg.setValue(TRUE);
inscene->color.connectFrom(&(material->diffuseColor));
inscene->color.getValue(); // update field
material->diffuseColor.connectFrom(&(inscene->color));
editorscene->addChild(inscene);
root->insertChild(editorscene, 0);
#if 0
SoQtColorEditor * editor = new SoQtColorEditor;
editor->attach(&(material->diffuseColor));
editor->show();
#endif
SoQt::show(w);
SoQt::mainLoop();
return 0;
}
int
main(int argc, char ** argv)
{
QApplication app(argc, argv);
// Initializes Quarter library (and implicitly also the Coin and Qt
// libraries).
Quarter::init();
// Make a dead simple scene graph by using the Coin library, only
// containing a single yellow cone under the scenegraph root.
SoSeparator * root = new SoSeparator;
root->ref();
SoBaseColor * col = new SoBaseColor;
col->rgb = SbColor(1, 1, 0);
root->addChild(col);
root->addChild(new SoCone);
// Create a QuarterWidget for displaying a Coin scene graph
QuarterWidget * viewer = new QuarterWidget;
viewer->setSceneGraph(root);
// make the viewer react to input events similar to the good old
// ExaminerViewer
viewer->setNavigationModeFile(QUrl("coin:///scxml/navigation/examiner.xml"));
// Pop up the QuarterWidget
viewer->show();
// Loop until exit.
app.exec();
// Clean up resources.
root->unref();
delete viewer;
Quarter::clean();
return 0;
}
VirtualRobot::VisualizationNodePtr CoinVisualizationNode::clone(bool deepCopy, float scaling)
{
THROW_VR_EXCEPTION_IF(scaling<=0,"Scaling must be >0");
SoSeparator* newModel = NULL;
if (visualization)
{
newModel = new SoSeparator;
newModel->ref();
if (scaling!=1.0)
{
SoScale *s = new SoScale;
s->scaleFactor.setValue(scaling,scaling,scaling);
newModel->addChild(s);
}
if (deepCopy)
{
newModel->addChild(visualization->copy(FALSE));
} else
newModel->addChild(visualization);
}
VisualizationNodePtr p(new CoinVisualizationNode(newModel));
if (newModel)
newModel->unrefNoDelete();
p->setUpdateVisualization(updateVisualization);
p->setGlobalPose(getGlobalPose());
p->setFilename(filename,boundingBox);
// clone attached visualizations
std::map< std::string, VisualizationNodePtr >::const_iterator i = attachedVisualizations.begin();
while (i!=attachedVisualizations.end())
{
VisualizationNodePtr attachedClone = i->second->clone(deepCopy,scaling);
p->attachVisualization(i->first, attachedClone);
i++;
}
return p;
}
SoSeparator*
VirtualContact::getVisualIndicator()
{
SoTransform *tran;
//this one is a member variable so we can change color if we want to "mark" the contact
if (!mZaxisMat) {
mZaxisMat = new SoMaterial;
mZaxisMat->ref();
}
mZaxisMat->diffuseColor = SbColor(0.8f,0,0);
mZaxisMat->ambientColor = SbColor(0.8f,0,0);
tran = new SoTransform;
getContactFrame().toSoTransform(tran);
SoCylinder *zaxisCyl = new SoCylinder;
zaxisCyl->radius = 0.2f;
zaxisCyl->height = Body::CONE_HEIGHT;
SoSphere *zaxisSphere = new SoSphere;
zaxisSphere->radius = 3.0f;
SoTransform *zaxisTran = new SoTransform;
zaxisTran->translation.setValue(0,0,Body::CONE_HEIGHT/2.0);
// zaxisTran->translation.setValue(0,0,2.0);
zaxisTran->rotation.setValue(SbVec3f(1,0,0),(float)M_PI/2.0f);
SoSeparator *zaxisSep = new SoSeparator;
zaxisSep->addChild(zaxisTran);
zaxisSep->addChild(mZaxisMat);
zaxisSep->addChild(zaxisCyl);
// zaxisSep->addChild(zaxisSphere);
SoSeparator* cne = new SoSeparator;
cne->addChild(tran);
cne->addChild(zaxisSep);
return cne;
}
void
SoXipOverlayTransformBoxManip::create()
{
mControlPointsCoords = new SoCoordinate3;
mControlPointsCoords->point.setNum(8);
mControlPointsCoords->point.set1Value( 0, SbVec3f( -0.5, 0.5, 0 ) );
mControlPointsCoords->point.set1Value( 1, SbVec3f( 0, 0.5, 0 ) );
mControlPointsCoords->point.set1Value( 2, SbVec3f( 0.5, 0.5, 0 ) );
mControlPointsCoords->point.set1Value( 3, SbVec3f( 0.5, 0, 0 ) );
mControlPointsCoords->point.set1Value( 4, SbVec3f( 0.5, -0.5, 0 ) );
mControlPointsCoords->point.set1Value( 5, SbVec3f( 0, -0.5, 0 ) );
mControlPointsCoords->point.set1Value( 6, SbVec3f( -0.5, -0.5, 0 ) );
mControlPointsCoords->point.set1Value( 7, SbVec3f( -0.5, 0, 0 ) );
mControlPointsStyle = new SoDrawStyle;
mControlPointsStyle->pointSize.setValue(5);
mControlPointsStyle->lineWidth.setValue(1);
SoBaseColor* pColor = new SoBaseColor;
pColor->rgb.setValue( 1, 1, 1 );
mBBoxTransform = new SoMatrixTransform;
mBBoxTransform->matrix.setValue( SbMatrix::identity() );
SoBaseColor* secondColor = new SoBaseColor;
secondColor->rgb.setValue( 0.5, 0.5, 0.5 );
SoDrawStyle* secondStyle = new SoDrawStyle;
secondStyle->pointSize.setValue(3);
if( mControlPointsSwitch )
mControlPointsSwitch->unref();
SoSeparator* controlPointsSeparator = new SoSeparator;
controlPointsSeparator->addChild( mBBoxTransform );
controlPointsSeparator->addChild( mControlPointsCoords );
controlPointsSeparator->addChild( mControlPointsStyle );
controlPointsSeparator->addChild( pColor );
controlPointsSeparator->addChild( new SoPointSet );
controlPointsSeparator->addChild( mControlPointsCoords );
controlPointsSeparator->addChild( secondStyle );
controlPointsSeparator->addChild( secondColor );
controlPointsSeparator->addChild( new SoPointSet );
mControlPointsSwitch = new SoSwitch;
mControlPointsSwitch->addChild( controlPointsSeparator );
mControlPointsSwitch->ref();
}
void SketcherValidation::showPoints(const std::vector<Base::Vector3d>& pts)
{
SoCoordinate3 * coords = new SoCoordinate3();
SoDrawStyle * drawStyle = new SoDrawStyle();
drawStyle->pointSize = 6;
SoPointSet* pcPoints = new SoPointSet();
coincidenceRoot = new SoGroup();
coincidenceRoot->addChild(drawStyle);
SoSeparator* pointsep = new SoSeparator();
SoBaseColor * basecol = new SoBaseColor();
basecol->rgb.setValue(1.0f, 0.5f, 0.0f);
pointsep->addChild(basecol);
pointsep->addChild(coords);
pointsep->addChild(pcPoints);
coincidenceRoot->addChild(pointsep);
// Draw markers
SoBaseColor * markcol = new SoBaseColor();
markcol->rgb.setValue(1.0f, 1.0f, 0.0f);
SoMarkerSet* marker = new SoMarkerSet();
marker->markerIndex=SoMarkerSet::PLUS_9_9;
pointsep->addChild(markcol);
pointsep->addChild(marker);
int pts_size = (int)pts.size();
coords->point.setNum(pts_size);
SbVec3f* c = coords->point.startEditing();
for (int i = 0; i < pts_size; i++) {
const Base::Vector3d& v = pts[i];
c[i].setValue((float)v.x,(float)v.y,(float)v.z);
}
coords->point.finishEditing();
Gui::ViewProvider* vp = Gui::Application::Instance->getViewProvider(sketch);
vp->getRoot()->addChild(coincidenceRoot);
}
SoPickedPoint* ViewProvider::getPointOnRay(const SbVec3f& pos,const SbVec3f& dir, const View3DInventorViewer* viewer) const
{
// Note: There seems to be a bug with setRay() which causes SoRayPickAction
// to fail to get intersections between the ray and a line
//first get the path to this node and calculate the current setTransformation
SoSearchAction sa;
sa.setNode(pcRoot);
sa.setSearchingAll(true);
sa.apply(viewer->getSoRenderManager()->getSceneGraph());
SoGetMatrixAction gm(viewer->getSoRenderManager()->getViewportRegion());
gm.apply(sa.getPath());
// build a temporary scenegraph only keeping this viewproviders nodes and the accumulated
// transformation
SoTransform* trans = new SoTransform;
trans->ref();
trans->setMatrix(gm.getMatrix());
SoSeparator* root = new SoSeparator;
root->ref();
root->addChild(viewer->getSoRenderManager()->getCamera());
root->addChild(trans);
root->addChild(pcRoot);
//get the picked point
SoRayPickAction rp(viewer->getSoRenderManager()->getViewportRegion());
rp.setRay(pos,dir);
rp.setRadius(viewer->getPickRadius());
rp.apply(root);
root->unref();
trans->unref();
// returns a copy of the point
SoPickedPoint* pick = rp.getPickedPoint();
//return (pick ? pick->copy() : 0); // needs the same instance of CRT under MS Windows
return (pick ? new SoPickedPoint(*pick) : 0);
}
Py::Object interactiveFilletArc(const Py::Tuple& args)
{
Gui::Document* doc = Gui::Application::Instance->activeDocument();
if (doc) {
Gui::View3DInventor* view = qobject_cast<Gui::View3DInventor*>(doc->getActiveView());
if (view) {
Gui::View3DInventorViewer* viewer = view->getViewer();
SoSeparator* scene = static_cast<SoSeparator*>(viewer->getSceneGraph());
SoSeparator* node = new SoSeparator();
SoBaseColor* rgb = new SoBaseColor();
rgb->rgb.setValue(1,1,0);
node->addChild(rgb);
SoCoordinate3* coords = new SoCoordinate3();
node->addChild(coords);
node->addChild(new SoLineSet());
scene->addChild(node);
ObjectObserver* obs = new ObjectObserver(doc->getDocument()->getActiveObject(), coords);
obs->attachDocument(doc->getDocument());
}
}
return Py::None();
}
static SoSeparator *arrowGeom(AxisArrow::AxisEnum axis, bool mirrored)
{
SoSeparator *root = new SoSeparator();
SoText2 *label = new SoText2();
label->justification = SoText2::CENTER;
if (axis == AxisArrow::AXIS_X) {
label->string.setValue(mirrored ? "-X" : "+X");
} else if (axis == AxisArrow::AXIS_Y) {
label->string.setValue(mirrored ? "-Y" : "+Y");
} else if (axis == AxisArrow::AXIS_Z) {
label->string.setValue(mirrored ? "-Z" : "+Z");
}
float mul = mirrored ? -1.0f : 1.0f;
// lines
float verts[][3] = {
// from origin to bottom of cone
{0, mul * CONE_OFFS/4, 0},
{0, mul * CONE_OFFS, 0},
};
SoCoordinate3 *coords = new SoCoordinate3();
coords->point.setValues(0, 2, verts);
root->addChild(coords);
int indices[] = {
0, 1, SO_END_LINE_INDEX,
};
SoIndexedLineSet *lines = new SoIndexedLineSet();
lines->coordIndex.setValues(0, 3, indices);
root->addChild(lines);
if (mirrored) {
// easiest way to mirror the cone, I guess
SoRotationXYZ *rot = new SoRotationXYZ();
rot->axis = SoRotationXYZ::X;
rot->angle = M_PI;
root->addChild(rot);
}
SoTranslation *xlat = new SoTranslation();
xlat->translation.setValue(0, CONE_OFFS, 0);
root->addChild(xlat);
SoCone *cone = new SoCone();
cone->bottomRadius = 0.35;
cone->height = CONE_HEIGHT;
root->addChild(cone);
SoTranslation *xlat2 = new SoTranslation();
xlat2->translation.setValue(0, CONE_HEIGHT/2+0.2, 0);
root->addChild(xlat2);
root->addChild(label);
return root;
}
void ViewProviderDatum::attach(App::DocumentObject *obj)
{
ViewProviderGeometryObject::attach ( obj );
// TODO remove this field (2015-09-08, Fat-Zer)
App::DocumentObject* o = getObject();
if (o->getTypeId() == PartDesign::Plane::getClassTypeId())
datumType = QObject::tr("Plane");
else if (o->getTypeId() == PartDesign::Line::getClassTypeId())
datumType = QObject::tr("Line");
else if (o->getTypeId() == PartDesign::Point::getClassTypeId())
datumType = QObject::tr("Point");
else if (o->getTypeId() == PartDesign::CoordinateSystem::getClassTypeId())
datumType = QObject::tr("CoordinateSystem");
SoShapeHints* hints = new SoShapeHints();
hints->shapeType.setValue(SoShapeHints::UNKNOWN_SHAPE_TYPE);
hints->vertexOrdering.setValue(SoShapeHints::COUNTERCLOCKWISE);
SoDrawStyle* fstyle = new SoDrawStyle();
fstyle->style = SoDrawStyle::FILLED;
fstyle->lineWidth = 3;
fstyle->pointSize = 5;
pPickStyle->style = SoPickStyle::SHAPE;
SoMaterialBinding* matBinding = new SoMaterialBinding;
matBinding->value = SoMaterialBinding::OVERALL;
SoSeparator* sep = new SoSeparator();
sep->addChild(hints);
sep->addChild(fstyle);
sep->addChild(pPickStyle);
sep->addChild(matBinding);
sep->addChild(pcShapeMaterial);
sep->addChild(pShapeSep);
addDisplayMaskMode(sep, "Base");
}
Standard_Boolean ViewProviderCurveNet::computeVertices(SoSeparator* root, const TopoDS_Shape &myShape)
{
TopExp_Explorer ex;
SoSeparator *VertexRoot = new SoSeparator();
root->addChild(VertexRoot);
VertexRoot->addChild(pcPointMaterial);
SoComplexity *copl = new SoComplexity();
copl->value = (float)0.2;
VertexRoot->addChild(copl);
for (ex.Init(myShape, TopAbs_VERTEX); ex.More(); ex.Next())
{
// get the shape
const TopoDS_Vertex& aVertex = TopoDS::Vertex(ex.Current());
gp_Pnt gpPt = BRep_Tool::Pnt (aVertex);
SoSeparator *TransRoot = new SoSeparator();
SoTransform *Trans = new SoTransform();
TransRoot->addChild(Trans);
Trans->translation.setValue((float)(gpPt.X()),(float)(gpPt.Y()),(float)(gpPt.Z()));
SoLocateHighlight* h = new SoLocateHighlight();
h->color.setValue((float)0.2,(float)0.5,(float)0.2);
SoSphere * sphere = new SoSphere;
sphere->radius = (float)pcPointStyle->pointSize.getValue();
h->addChild(sphere);
TransRoot->addChild(h);
VertexRoot->addChild(TransRoot);
}
return true;
}
bool SimoxRobotViewer::showPlane( const std::string &planeName, const Eigen::Vector3f &pos, const Eigen::Vector3f &n )
{
removePlane(planeName);
lock();
SoSeparator* sep = new SoSeparator();
sep->addChild(CoinVisualizationFactory::CreatePlaneVisualization(pos,n,4000.0f,0.5f));
planes[planeName] = sep;
// add visu
sceneSep->addChild(sep);
unlock();
return true;
}
bool SimoxRobotViewer::setEEFVisu( const std::string &eefVisuName, SoSeparator *vis )
{
removeEEFVisu(eefVisuName);
if (!vis)
return false;
lock();
SoSeparator *v = new SoSeparator;
SoMatrixTransform *mat = new SoMatrixTransform;
mat->matrix.setValue(SbMatrix::identity());
v->addChild(mat);
v->addChild(vis);
eefVisu[eefVisuName] = v;
eefVisu[eefVisuName]->ref();
unlock();
showEEFVisu(eefVisuName,true);
return true;
}
SoSeparator *
createCameraObject (const float zoomFactor = 1.0)
{
vpDEBUG_TRACE (15, "# Entree.");
SoSeparator * cam = new SoSeparator;
cam->ref ();
SoMaterial *myMaterial = new SoMaterial;
myMaterial->diffuseColor.setValue(1.0, 0.0, 0.0);
myMaterial->emissiveColor.setValue(0.5, 0.0, 0.0);
SoScale *taille = new SoScale;
{
float zoom = 0.1f * zoomFactor;
taille->scaleFactor.setValue (zoom, zoom, zoom);
}
SoMaterial *couleurBlanc = new SoMaterial;
couleurBlanc->diffuseColor.setValue(1.0, 1.0, 1.0);
couleurBlanc->emissiveColor.setValue(1.0, 1.0, 1.0);
SoDrawStyle * filDeFer = new SoDrawStyle;
filDeFer->style.setValue (SoDrawStyle::LINES);
filDeFer->lineWidth.setValue (1);
SoSeparator * cone = new SoSeparator;
cone->ref();
cone->addChild (makePyramide());
cone->addChild (couleurBlanc);
cone->addChild (filDeFer);
cone->addChild (makePyramide());
cone->unrefNoDelete();
cam->addChild(myMaterial);
cam->addChild(taille);
cam->addChild(cone);
cam->addChild(createFrame(2.0f,0.1f,0.01f));
// cam->unref() ;
vpDEBUG_TRACE (15, "# Sortie.");
return cam;
}
SoFCBoundingBox::SoFCBoundingBox ()
{
SO_NODE_CONSTRUCTOR(SoFCBoundingBox);
SO_NODE_ADD_FIELD(minBounds, (-1.0, -1.0, -1.0));
SO_NODE_ADD_FIELD(maxBounds, ( 1.0, 1.0, 1.0));
SO_NODE_ADD_FIELD(coordsOn, (true));
SO_NODE_ADD_FIELD(dimensionsOn, (true));
root = new SoSeparator();
SoSeparator *bboxSep = new SoSeparator();
bboxCoords = new SoCoordinate3();
bboxCoords->point.setNum(8);
bboxSep->addChild(bboxCoords);
root->addChild(bboxSep);
// the lines of the box
bboxLines = new SoIndexedLineSet();
bboxLines->coordIndex.setNum(36);
bboxLines->coordIndex.setValues(0, 36, bBoxEdges);
bboxSep->addChild(bboxLines);
// create the text nodes, including a transform for each vertice offset
textSep = new SoSeparator();
for (int i = 0; i < 8; i++) {
SoSeparator *temp = new SoSeparator();
SoTransform *trans = new SoTransform();
temp->addChild(trans);
SoText2* text = new SoText2();
text->justification.setValue(SoText2::CENTER);
temp->addChild(text);
textSep->addChild(temp);
}
// create the text nodes, including a transform for each dimension
dimSep = new SoSeparator();
for (int i = 0; i < 3; i++) {
SoSeparator *temp = new SoSeparator();
SoTransform *trans = new SoTransform();
temp->addChild(trans);
SoText2* text = new SoText2();
text->justification.setValue(SoText2::CENTER);
temp->addChild(text);
dimSep->addChild(temp);
}
root->addChild(textSep);
root->addChild(dimSep);
root->ref();
}
static SoSeparator * create_background(void)
{
// create a gradient background
SoSeparator * root = new SoSeparator;
SoBaseColor * color = new SoBaseColor;
SoOrthographicCamera * orthocam = new SoOrthographicCamera;
color->rgb.set1Value(0, SbColor(1.0, 0.0, 0.0));
color->rgb.set1Value(1, SbColor(1.0, 1.0, 0.0));
orthocam->height.setValue(1.0);
orthocam->viewportMapping = SoCamera::LEAVE_ALONE;
orthocam->nearDistance.setValue(0.0);
orthocam->farDistance.setValue(2.0);
orthocam->position = SbVec3f(0.0f, 0.0f, 1.0f);
SoMaterialBinding * mb = new SoMaterialBinding;
mb->value = SoMaterialBinding::PER_VERTEX_INDEXED;
SoCoordinate3 * coords = new SoCoordinate3;
coords->point.set1Value(0, SbVec3f(-0.5f, -0.5f, 0.0f));
coords->point.set1Value(1, SbVec3f(0.5f, -0.5f, 0.0f));
coords->point.set1Value(2, SbVec3f(0.5f, 0.5f, 0.0f));
coords->point.set1Value(3, SbVec3f(-0.5f, 0.5f, 0.0f));
SoIndexedFaceSet * ifs = new SoIndexedFaceSet;
ifs->coordIndex.set1Value(0, 0);
ifs->coordIndex.set1Value(1, 1);
ifs->coordIndex.set1Value(2, 2);
ifs->coordIndex.set1Value(3, 3);
ifs->coordIndex.set1Value(4, -1);
ifs->materialIndex.set1Value(0, 0);
ifs->materialIndex.set1Value(1, 0);
ifs->materialIndex.set1Value(2, 1);
ifs->materialIndex.set1Value(3, 1);
ifs->materialIndex.set1Value(4, -1);
SoLightModel * lm = new SoLightModel;
lm->model = SoLightModel::BASE_COLOR;
root->addChild(orthocam);
root->addChild(lm);
root->addChild(color);
root->addChild(mb);
root->addChild(coords);
root->addChild(ifs);
return root;
}
bool SimoxRobotViewer::showPath( const std::string &pathName, VirtualRobot::TrajectoryPtr path, VirtualRobot::VisualizationFactory::Color c )
{
removePath(pathName);
if (!path)
return false;
lock();
VirtualRobot::RobotNodeSetPtr rns = path->getRobotNodeSet();
if (!rns)
{
VR_ERROR << "No rns" << endl;
unlock();
return false;
}
RobotNodePtr tcp = rns->getTCP();
if (!tcp)
{
VR_ERROR << "No tcp" << endl;
unlock();
return false;
}
SoSeparator *sep = new SoSeparator;
sep->addChild(VirtualRobot::CoinVisualizationFactory::getCoinVisualization(path));
//Saba::CoinRrtWorkspaceVisualization cv(robot,cspace,tcp->getName());
//cv.setCustomColor(c.r,c.g,c.b);
//cv.addCSpacePath(path,Saba::CoinRrtWorkspaceVisualization::eCustom);
//SoSeparator *sep = cv.getCoinVisualization();
if (!sep)
{
unlock();
return false;
}
pathData pd;
pd.trajectory = path;
pd.visu = sep;
paths[pathName] = pd;
// add visu
sceneSep->addChild(sep);
unlock();
return true;
}
void ViewProviderMeasureDistance::attach(App::DocumentObject* pcObject)
{
ViewProviderDocumentObject::attach(pcObject);
SoPickStyle* ps = new SoPickStyle();
ps->style = SoPickStyle::UNPICKABLE;
SoSeparator *lineSep = new SoSeparator();
SoDrawStyle* style = new SoDrawStyle();
style->lineWidth = 2.0f;
lineSep->addChild(ps);
lineSep->addChild(style);
lineSep->addChild(pColor);
lineSep->addChild(pCoords);
lineSep->addChild(pLines);
SoMarkerSet* points = new SoMarkerSet();
points->markerIndex = SoMarkerSet::CROSS_9_9;
points->numPoints=2;
lineSep->addChild(points);
// Making the whole measurement object selectable by 3d view can
// become cumbersome since it has influence to any raypick action.
// Thus, it's only selectable by its text label
SoFCSelection* textsep = new SoFCSelection();
textsep->objectName = pcObject->getNameInDocument();
textsep->documentName = pcObject->getDocument()->getName();
textsep->subElementName = "Main";
//SoSeparator* textsep = new SoSeparator();
textsep->addChild(pTranslation);
textsep->addChild(pTextColor);
textsep->addChild(pFont);
textsep->addChild(pLabel);
SoSeparator* sep = new SoSeparator();
sep->addChild(lineSep);
sep->addChild(textsep);
addDisplayMaskMode(sep, "Base");
}
SoSeparator* IvDragger::_CreateAxes(float fSize,float fColor)
{
SoSeparator* axes = new SoSeparator();
Vector colors[] = { Vector(0,0,fColor),Vector(0,fColor,0),Vector(fColor,0,0)};
Vector rotations[] = { Vector(1,0,0,PI/2), Vector(1,0,0,0), Vector(0,0,1,-PI/2)};
// add 3 cylinder+cone axes
for(int i = 0; i < 3; ++i) {
// set a diffuse color
SoSeparator* psep = new SoSeparator();
SoMaterial* mtrl = new SoMaterial;
mtrl->diffuseColor = SbColor(colors[i].x, colors[i].y, colors[i].z);
mtrl->ambientColor = SbColor(colors[i].x, colors[i].y, colors[i].z);
mtrl->setOverride(true);
SoTransform* protation = new SoTransform();
protation->rotation.setValue(SbVec3f(rotations[i].x, rotations[i].y, rotations[i].z), rotations[i].w);
SoTransform* pcyltrans = new SoTransform();
pcyltrans->translation.setValue(0,0.02f*fSize,0);
SoCylinder* c = new SoCylinder();
c->radius = 0.002f*fSize;
c->height = 0.04f*fSize;
SoCone* cn = new SoCone();
cn->bottomRadius = 0.004f*fSize;
cn->height = 0.02f*fSize;
SoTransform* pconetrans = new SoTransform();
pconetrans->translation.setValue(0,0.02f*fSize,0);
psep->addChild(mtrl);
psep->addChild(protation);
psep->addChild(pcyltrans);
psep->addChild(c);
psep->addChild(pconetrans);
psep->addChild(cn);
axes->addChild(psep);
}
return axes;
}
int main(int, char ** argv)
{
HWND window = SoWin::init("Oil Well");
if (window == NULL) exit(1);
SoWinExaminerViewer * viewer = new SoWinExaminerViewer(window);
viewer->setDecoration(false);
viewer->setSize(SbVec2s(800, 600));
SoSeparator *root = new SoSeparator;
root->ref();
SoSeparator *obelisk = new SoSeparator();
// Define the normals used:
SoNormal *myNormals = new SoNormal;
myNormals->vector.setValues(0, 8, norms);
obelisk->addChild(myNormals);
SoNormalBinding *myNormalBinding = new SoNormalBinding;
myNormalBinding->value = SoNormalBinding::PER_FACE;
obelisk->addChild(myNormalBinding);
// Define material for obelisk
SoMaterial *myMaterial = new SoMaterial;
myMaterial->diffuseColor.setValue(.4, .4, .4);
obelisk->addChild(myMaterial);
// Define coordinates for vertices
SoCoordinate3 *myCoords = new SoCoordinate3;
myCoords->point.setValues(0, 28, vertices);
obelisk->addChild(myCoords);
// Define the FaceSet
SoFaceSet *myFaceSet = new SoFaceSet;
myFaceSet->numVertices.setValues(0, 8, numvertices);
obelisk->addChild(myFaceSet);
root->addChild(obelisk);
viewer->setSceneGraph(root);
viewer->setTitle("Oil Well");
viewer->show();
SoWin::show(window);
SoWin::mainLoop();
delete viewer;
root->unref();
return 0;
}
SoSeparator *
createScenegraph(void)
{
SoSeparator * texroot = new SoSeparator;
texroot->ref();
SoInput in;
in.setBuffer(red_cone_iv, strlen(red_cone_iv));
SoSeparator * result = SoDB::readAll(&in);
if (result == NULL) { exit(1); }
SoPerspectiveCamera *myCamera = new SoPerspectiveCamera;
SoRotationXYZ *rot = new SoRotationXYZ;
rot->axis = SoRotationXYZ::X;
rot->angle = M_PI_2;
myCamera->position.setValue(SbVec3f(-0.2, -0.2, 2.0));
myCamera->scaleHeight(0.4);
texroot->addChild(myCamera);
texroot->addChild(new SoDirectionalLight);
texroot->addChild(rot);
texroot->addChild(result);
myCamera->viewAll(texroot, SbViewportRegion());
// Generate the texture map
SoTexture2 *texture = new SoTexture2;
texture->ref();
if (generateTextureMap(texroot, texture, 128, 128))
printf ("Successfully generated texture map\n");
else
printf ("Could not generate texture map\n");
texroot->unref();
// Make a scene with a cube and apply the texture to it
SoSeparator * root = new SoSeparator;
root->addChild(texture);
root->addChild(new SoCube);
return root;
}
void ViewProviderOriginFeature::attach(App::DocumentObject* pcObject)
{
ViewProviderGeometryObject::attach(pcObject);
float defaultSz = ViewProviderOrigin::defaultSize();
float sz = Size.getValue () / defaultSz;
// Create an external separator
SoSeparator *sep = new SoSeparator();
// Add material from the base class
sep->addChild(pcShapeMaterial);
// Bind same material to all part
SoMaterialBinding* matBinding = new SoMaterialBinding;
matBinding->value = SoMaterialBinding::OVERALL;
sep->addChild(matBinding);
// Scale feature to the given size
pScale->scaleFactor = SbVec3f (sz, sz, sz);
sep->addChild (pScale);
// Setup font size
SoFont *font = new SoFont ();
font->size.setValue ( defaultSz/10.);
sep->addChild ( font );
// Create the selection node
SoFCSelection *highlight = new SoFCSelection ();
highlight->applySettings ();
if ( !Selectable.getValue() ) {
highlight->selectionMode = Gui::SoFCSelection::SEL_OFF;
}
highlight->objectName = getObject()->getNameInDocument();
highlight->documentName = getObject()->getDocument()->getName();
highlight->style = SoFCSelection::EMISSIVE_DIFFUSE;
// Style for normal (visiable) lines
SoDrawStyle* style = new SoDrawStyle ();
style->lineWidth = 2.0f;
highlight->addChild ( style );
// Visible lines
highlight->addChild ( pOriginFeatureRoot );
// Hidden features
SoAnnotation *hidden = new SoAnnotation ();
// Style for hidden lines
style = new SoDrawStyle ();
style->lineWidth = 2.0f;
style->linePattern.setValue ( 0xF000 ); // (dash-skip-skip-skip)
hidden->addChild ( style );
// Hidden lines
hidden->addChild ( pOriginFeatureRoot );
highlight->addChild ( hidden );
sep->addChild ( highlight );
// Setup the object label as it's text
pLabel->string.setValue ( SbString ( pcObject->Label.getValue () ) );
addDisplayMaskMode ( sep, "Base" );
}
void ViewProviderSpline::showControlPointsOfFace(const TopoDS_Face& face)
{
std::list<gp_Pnt> knots;
std::vector<std::vector<gp_Pnt> > poles;
Standard_Integer nCtU=0, nCtV=0;
BRepAdaptor_Surface surface(face);
BRepAdaptor_Surface clSurface(face);
switch (clSurface.GetType())
{
case GeomAbs_BezierSurface:
{
Handle(Geom_BezierSurface) hBezier = surface.Bezier();
nCtU = hBezier->NbUPoles();
nCtV = hBezier->NbVPoles();
poles.resize(nCtU);
for (Standard_Integer u = 1; u <= nCtU; u++) {
poles[u-1].resize(nCtV);
for (Standard_Integer v = 1; v <= nCtV; v++)
poles[u-1][v-1] = hBezier->Pole(u, v);
}
} break;
case GeomAbs_BSplineSurface:
{
Handle(Geom_BSplineSurface) hBSpline = surface.BSpline();
nCtU = hBSpline->NbUPoles();
nCtV = hBSpline->NbVPoles();
poles.resize(nCtU);
for (Standard_Integer u = 1; u <= nCtU; u++) {
poles[u-1].resize(nCtV);
for (Standard_Integer v = 1; v <= nCtV; v++)
poles[u-1][v-1] = hBSpline->Pole(u, v);
}
//Standard_Integer nKnU = hBSpline->NbUKnots();
//Standard_Integer nKnV = hBSpline->NbVKnots();
for (Standard_Integer u = 1; u <= hBSpline->NbUKnots(); u++) {
for (Standard_Integer v = 1; v <= hBSpline->NbVKnots(); v++)
knots.push_back(hBSpline->Value(hBSpline->UKnot(u), hBSpline->VKnot(v)));
}
} break;
default:
break;
}
if (poles.empty())
return; // nothing to do
SoCoordinate3 * coords = new SoCoordinate3;
coords->point.setNum(nCtU * nCtV + knots.size());
int index=0;
SbVec3f* verts = coords->point.startEditing();
for (std::vector<std::vector<gp_Pnt> >::iterator u = poles.begin(); u != poles.end(); ++u) {
for (std::vector<gp_Pnt>::iterator v = u->begin(); v != u->end(); ++v) {
verts[index++].setValue((float)v->X(), (float)v->Y(), (float)v->Z());
}
}
for (std::list<gp_Pnt>::iterator k = knots.begin(); k != knots.end(); ++k) {
verts[index++].setValue((float)k->X(), (float)k->Y(), (float)k->Z());
}
coords->point.finishEditing();
SoFCControlPoints* control = new SoFCControlPoints();
control->numPolesU = nCtU;
control->numPolesV = nCtV;
//if (knots.size() > 0) {
// control->numKnotsU = nKnU;
// control->numKnotsV = nKnV;
//}
SoSeparator* nodes = new SoSeparator();
nodes->addChild(coords);
nodes->addChild(control);
pcControlPoints->addChild(nodes);
}
void ViewProviderSpline::showControlPointsOfEdge(const TopoDS_Edge& edge)
{
std::list<gp_Pnt> poles, knots;
Standard_Integer nCt=0;
BRepAdaptor_Curve curve(edge);
switch (curve.GetType())
{
case GeomAbs_BezierCurve:
{
Handle(Geom_BezierCurve) hBezier = curve.Bezier();
nCt = hBezier->NbPoles();
for (Standard_Integer i = 1; i <= nCt; i++)
poles.push_back(hBezier->Pole(i));
if (hBezier->IsClosed()) {
nCt++;
poles.push_back(hBezier->Pole(1));
}
} break;
case GeomAbs_BSplineCurve:
{
Handle(Geom_BSplineCurve) hBSpline = curve.BSpline();
nCt = hBSpline->NbPoles();
for (Standard_Integer i = 1; i <= nCt; i++)
poles.push_back(hBSpline->Pole(i));
if (hBSpline->IsClosed()) {
nCt++;
poles.push_back(hBSpline->Pole(1));
}
for (Standard_Integer i = hBSpline->FirstUKnotIndex()+1; i <= hBSpline->LastUKnotIndex()-1; i++)
knots.push_back(hBSpline->Value(hBSpline->Knot(i)));
} break;
default:
break;
}
if (poles.empty())
return; // nothing to do
SoCoordinate3 * controlcoords = new SoCoordinate3;
controlcoords->point.setNum(nCt + knots.size());
int index=0;
SbVec3f* verts = controlcoords->point.startEditing();
for (std::list<gp_Pnt>::iterator p = poles.begin(); p != poles.end(); ++p) {
verts[index++].setValue((float)p->X(), (float)p->Y(), (float)p->Z());
}
for (std::list<gp_Pnt>::iterator k = knots.begin(); k != knots.end(); ++k) {
verts[index++].setValue((float)k->X(), (float)k->Y(), (float)k->Z());
}
controlcoords->point.finishEditing();
SoFCControlPoints* controlpoints = new SoFCControlPoints();
controlpoints->numPolesU = nCt;
controlpoints->numPolesV = 1;
SoSeparator* nodes = new SoSeparator();
nodes->addChild(controlcoords);
nodes->addChild(controlpoints);
pcControlPoints->addChild(nodes);
}
SoSeparator* IVWorkSpace::calculateBoundingBox(SoSeparator *element){
// set up an engine to calculate the bounding box of the element parameter
SoComputeBoundingBox * bboxEngine = new SoComputeBoundingBox;
bboxEngine->node = element;
// decompose the vectors into separate floating point values
SoDecomposeVec3f * dep1 = new SoDecomposeVec3f;
SoDecomposeVec3f * dep2 = new SoDecomposeVec3f;
dep1->vector.connectFrom(&bboxEngine->min);
dep2->vector.connectFrom(&bboxEngine->max);
// create engines to compose vectors again. We need eight vectors,
// one for each vertex in the bounding box.
SoComposeVec3f * comp1 = new SoComposeVec3f;
SoComposeVec3f * comp2 = new SoComposeVec3f;
SoComposeVec3f * comp3 = new SoComposeVec3f;
SoComposeVec3f * comp4 = new SoComposeVec3f;
SoComposeVec3f * comp5 = new SoComposeVec3f;
SoComposeVec3f * comp6 = new SoComposeVec3f;
SoComposeVec3f * comp7 = new SoComposeVec3f;
SoComposeVec3f * comp8 = new SoComposeVec3f;
// connect the engines so that all corner points are covered
comp1->x.connectFrom(&dep1->x);
comp1->y.connectFrom(&dep1->y);
comp1->z.connectFrom(&dep1->z);
comp2->x.connectFrom(&dep2->x);
comp2->y.connectFrom(&dep1->y);
comp2->z.connectFrom(&dep1->z);
comp3->x.connectFrom(&dep2->x);
comp3->y.connectFrom(&dep2->y);
comp3->z.connectFrom(&dep1->z);
comp4->x.connectFrom(&dep1->x);
comp4->y.connectFrom(&dep2->y);
comp4->z.connectFrom(&dep1->z);
comp5->x.connectFrom(&dep1->x);
comp5->y.connectFrom(&dep1->y);
comp5->z.connectFrom(&dep2->z);
comp6->x.connectFrom(&dep2->x);
comp6->y.connectFrom(&dep1->y);
comp6->z.connectFrom(&dep2->z);
comp7->x.connectFrom(&dep2->x);
comp7->y.connectFrom(&dep2->y);
comp7->z.connectFrom(&dep2->z);
comp8->x.connectFrom(&dep1->x);
comp8->y.connectFrom(&dep2->y);
comp8->z.connectFrom(&dep2->z);
// concatenate the eight vectors into a single SoMFVec3f field
SoConcatenate * con = new SoConcatenate(SoMFVec3f::getClassTypeId());
con->input[0]->connectFrom(&comp1->vector);
con->input[1]->connectFrom(&comp2->vector);
con->input[2]->connectFrom(&comp3->vector);
con->input[3]->connectFrom(&comp4->vector);
con->input[4]->connectFrom(&comp5->vector);
con->input[5]->connectFrom(&comp6->vector);
con->input[6]->connectFrom(&comp7->vector);
con->input[7]->connectFrom(&comp8->vector);
// construct a new scene graph, that includes an indexed line to
// render the bounding box.
SoSeparator* sep = new SoSeparator;
SoLightModel* lm = new SoLightModel;
lm->model = SoLightModel::BASE_COLOR;
SoCoordinate3* coords = new SoCoordinate3;
// use the points calculated by our engines
coords->point.connectFrom(con->output);
SoDrawStyle* ds = new SoDrawStyle;
ds->lineWidth = 2;
ds->linePattern = 0xf0f0;
SoIndexedLineSet* ls = new SoIndexedLineSet;
const int32_t idx[] = {0,1,2,3,0,-1,4,5,6,7,4,-1,
1,5,-1,2,6,-1,3,7,-1,0,4,-1};
ls->coordIndex.setNum(24);
ls->coordIndex.setValues(0, 24, idx);
sep->addChild(lm);
sep->addChild(coords);
sep->addChild(ds);
sep->addChild(ls);
sep->ref();
return sep;
}
//HandViewWindow:
//Set the HandViewWindow which contains he views themselves
HandViewWindow::HandViewWindow(QWidget * parent, Hand * h, const QRect & geom, SoNode * IVRoot, QWidget * stageFrame):currentPreviewIndex(-1),
maxViewSize(3), cloneHand(new Hand(h->getWorld(), "newHand")), geom_(geom), grid(NULL), stageFrame_(stageFrame)
{
handViewWindow = new QFrame(NULL);
handViewWindow->setWindowFlags(Qt::WindowStaysOnTopHint);
viewHolder = new QFrame(NULL);
handViewWindow->setGeometry(geom);
hbox = new QHBoxLayout(handViewWindow);
handViewWindow->show();
viewHolder->setGeometry(0,0,2*geom_.width()/3,2*geom_.height()/3);
viewHolder->setMinimumSize(2*geom_.width()/3,2*geom_.height()/3);
viewHolder->setMaximumSize(2*geom_.width()/3,2*geom_.height()/3);
viewHolder->setFrameStyle(QFrame::Box | QFrame::Raised);
viewHolder->setLineWidth(2);
if(IVRoot)
{
SoQtRenderArea * render = new SoQtRenderArea(viewHolder, " ",true);
vbox1 = new QVBoxLayout();
hbox->addLayout(vbox1);
vbox1->addWidget(viewHolder);
vbox1->addWidget(stageFrame);
//render->setSceneGraph(IVRoot);
SoSeparator * testRoot = new SoSeparator;
//SoCone * testCone = new SoCone;
//SoCamera * testCamera = new SoPerspectiveCamera;
SoMaterial * testMaterial = new SoMaterial;
testMaterial->diffuseColor.setValue(1,0,0);
testRoot->addChild(graspItGUI->getIVmgr()->getViewer()->getCamera());
SoTransformSeparator *lightSep = new SoTransformSeparator;
SoRotation *lightDir = new SoRotation;
lightDir->rotation.connectFrom(&graspItGUI->getIVmgr()->getViewer()->getCamera()->orientation);
lightSep->addChild(lightDir);
lightSep->addChild(graspItGUI->getIVmgr()->getViewer()->getHeadlight());
SoLightModel * model = new SoLightModel;
model->model=SoLightModel::PHONG;
testRoot->addChild(lightSep);
testRoot->addChild(model);
testRoot->addChild(IVRoot);
render->setSceneGraph(testRoot);
render->setBackgroundColor(SbColor(1,1,1));
render->scheduleRedraw();
render->render();
render->show();
}
vbox2 = new QVBoxLayout();
vbox2->setGeometry(QRect(0,0,geom_.width()/3,geom_.height()));
vbox2->setSizeConstraint(QLayout::SetMinimumSize);
hbox->addLayout(vbox2);
// vbox2->addWidget(new QWidget());
//handViewWindow->setWindowFlags(Qt::WindowStaysOnTopHint);
//handViewWindow->resize(QSize(900,100));
//handViewFrame->setGeometry(geom_);
handViewWindow->setFrameStyle(QFrame::Box | QFrame::Raised);
handViewWindow->setLineWidth(4);
cloneHand->cloneFrom(h);
cloneHand->setTransparency(0.0);
cloneHand->setRenderGeometry(false);
cloneHand->showVirtualContacts(false);
cloneHand->getWorld()->toggleCollisions(false, cloneHand);
}
void startRRTVisualization()
{
// create robot
std::string filename("robots/examples/RrtDemo/Joint3.xml");
VirtualRobot::RuntimeEnvironment::getDataFileAbsolute(filename);
cout << "Loading 3DOF robot from " << filename << endl;
RobotPtr robot = RobotIO::loadRobot(filename);
if (!robot)
{
return;
}
float sampling_extend_stepsize = 0.04f;
// create environment
float posX = 0.0f, posY = -400.0f, posZ = 400.0f, sizeX = 100.0f, sizeY = 300.0f, sizeZ = 1000.0f;
ObstaclePtr o = Obstacle::createBox(sizeX, sizeY, sizeZ);
Eigen::Affine3f tmpT(Eigen::Translation3f(posX, posY, posZ));
o->setGlobalPose(tmpT.matrix());
// setup collision detection
std::string colModelName("CollisionModel");
SceneObjectSetPtr cms = robot->getRobotNodeSet(colModelName);
CDManagerPtr cdm(new CDManager());
cdm->addCollisionModel(cms);
cdm->addCollisionModel(o);
float planningTime = 0;
int failed = 0;
int loops = 1;
bool ok;
CSpaceSampledPtr cspace;
std::string planningJoints("AllJoints");
RobotNodeSetPtr planningNodes = robot->getRobotNodeSet(planningJoints);
#ifdef USE_BIRRT
BiRrtPtr rrt;
#else
RrtPtr rrt;
#endif
Eigen::VectorXf start(3);
start(0) = (float)M_PI / 4.0f;
start(1) = (float)M_PI / 4.0f * 1.5f;
start(2) = (float) - M_PI / 4.0f;
Eigen::VectorXf goal(3);
goal(0) = (float) - M_PI / 4.0f;
goal(1) = (float)M_PI / 4.0f * 1.5f;
goal(2) = (float) - M_PI / 4.0f;
for (int i = 0; i < loops; i++)
{
// setup C-Space
cspace.reset(new CSpaceSampled(robot, cdm, planningNodes));
cspace->setSamplingSize(sampling_extend_stepsize);
cspace->setSamplingSizeDCD(sampling_extend_stepsize);
// setup planner
#ifdef USE_BIRRT
rrt.reset(new BiRrt(cspace));
#else
rrt.reset(new Rrt(cspace));
#endif
rrt->setStart(start);
rrt->setGoal(goal);
clock_t startT = clock();
ok = rrt->plan(true);
clock_t endT = clock();
float diffClock = (float)(((float)(endT - startT) / (float)CLOCKS_PER_SEC) * 1000.0f);
planningTime += diffClock;
if (!ok)
{
failed++;
}
}
planningTime /= (float)loops;
cout << "Avg planning time: " << planningTime << endl;
cout << "failed:" << failed << endl;
if (!ok)
{
cout << "planning failed..." << endl;
return;
}
CSpacePathPtr solution = rrt->getSolution();
CSpaceTreePtr tree = rrt->getTree();
robot->setJointValues(planningNodes, start);
// display robot
SoSeparator* sep = new SoSeparator();
SceneObject::VisualizationType colModel = SceneObject::Full;
boost::shared_ptr<CoinVisualization> visualization = robot->getVisualization<CoinVisualization>(colModel);
SoNode* visualisationNode = NULL;
if (visualization)
{
visualisationNode = visualization->getCoinVisualization();
}
sep->addChild(visualisationNode);
// display obstacle
VisualizationNodePtr visuObstacle = o->getVisualization();
std::vector<VisualizationNodePtr> visus;
visus.push_back(visuObstacle);
boost::shared_ptr<CoinVisualization> visualizationO(new CoinVisualization(visus));
SoNode* obstacleSoNode = visualizationO->getCoinVisualization();
sep->addChild(obstacleSoNode);
// show rrt visu
boost::shared_ptr<CoinRrtWorkspaceVisualization> w(new CoinRrtWorkspaceVisualization(robot, cspace, "EndPoint"));
w->addTree(tree);
#ifdef USE_BIRRT
CSpaceTreePtr tree2 = rrt->getTree2();
w->addTree(tree2);
#endif
w->addCSpacePath(solution);
w->addConfiguration(start, CoinRrtWorkspaceVisualization::eGreen, 3.0f);
w->addConfiguration(goal, CoinRrtWorkspaceVisualization::eGreen, 3.0f);
SoSeparator* sol = w->getCoinVisualization();
sep->addChild(sol);
show(sep);
}
void ViewProviderFemConstraintPulley::updateData(const App::Property* prop)
{
// Gets called whenever a property of the attached object changes
Fem::ConstraintPulley* pcConstraint = static_cast<Fem::ConstraintPulley*>(this->getObject());
if (strcmp(prop->getName(),"BasePoint") == 0) {
if (pcConstraint->Height.getValue() > Precision::Confusion()) {
// Remove and recreate the symbol
pShapeSep->removeAllChildren();
// This should always point outside of the cylinder
Base::Vector3d base = pcConstraint->BasePoint.getValue();
Base::Vector3d axis = pcConstraint->Axis.getValue();
double radius = pcConstraint->Radius.getValue();
double dia = pcConstraint->Diameter.getValue();
if (dia < 2 * radius)
dia = 2 * radius;
double forceAngle = pcConstraint->ForceAngle.getValue() / 180 * M_PI;
double beltAngle = pcConstraint->BeltAngle.getValue();
double rat1 = 0.8, rat2 = 0.2;
double f1 = pcConstraint->BeltForce1.getValue();
double f2 = pcConstraint->BeltForce2.getValue();
if (f1+f2 > Precision::Confusion()) {
rat1 = f1 / (f1+f2);
rat2 = f2 / (f1+f2);
}
SbVec3f b(base.x, base.y, base.z);
SbVec3f ax(axis.x, axis.y, axis.z);
createPlacement(pShapeSep, b, SbRotation(SbVec3f(0,1,0), ax)); // child 0 and 1
pShapeSep->addChild(createCylinder(pcConstraint->Height.getValue() * 0.8, dia/2)); // child 2
SoSeparator* sep = new SoSeparator();
createPlacement(sep, SbVec3f(dia/2 * sin(forceAngle+beltAngle), 0, dia/2 * cos(forceAngle+beltAngle)),
SbRotation(SbVec3f(0,1,0), SbVec3f(sin(forceAngle+beltAngle+M_PI_2),0,cos(forceAngle+beltAngle+M_PI_2))));
createPlacement(sep, SbVec3f(0, dia/8 + dia/2 * rat1, 0), SbRotation());
sep->addChild(createArrow(dia/8 + dia/2 * rat1, dia/8));
pShapeSep->addChild(sep); // child 3
sep = new SoSeparator();
createPlacement(sep, SbVec3f(-dia/2 * sin(forceAngle-beltAngle), 0, -dia/2 * cos(forceAngle-beltAngle)),
SbRotation(SbVec3f(0,1,0), SbVec3f(-sin(forceAngle-beltAngle-M_PI_2),0,-cos(forceAngle-beltAngle-M_PI_2))));
createPlacement(sep, SbVec3f(0, dia/8 + dia/2 * rat2, 0), SbRotation());
sep->addChild(createArrow(dia/8 + dia/2 * rat2, dia/8));
pShapeSep->addChild(sep); // child 4
}
} else if (strcmp(prop->getName(),"Diameter") == 0) {
if (pShapeSep->getNumChildren() > 0) {
// Change the symbol
double radius = pcConstraint->Radius.getValue();
double dia = pcConstraint->Diameter.getValue();
if (dia < 2 * radius)
dia = 2 * radius;
double forceAngle = pcConstraint->ForceAngle.getValue() / 180 * M_PI;
double beltAngle = pcConstraint->BeltAngle.getValue();
double rat1 = 0.8, rat2 = 0.2;
double f1 = pcConstraint->BeltForce1.getValue();
double f2 = pcConstraint->BeltForce2.getValue();
if (f1+f2 > Precision::Confusion()) {
rat1 = f1 / (f1+f2);
rat2 = f2 / (f1+f2);
}
const SoSeparator* sep = static_cast<SoSeparator*>(pShapeSep->getChild(2));
updateCylinder(sep, 0, pcConstraint->Height.getValue() * 0.8, dia/2);
sep = static_cast<SoSeparator*>(pShapeSep->getChild(3));
updatePlacement(sep, 0, SbVec3f(dia/2 * sin(forceAngle+beltAngle), 0, dia/2 * cos(forceAngle+beltAngle)),
SbRotation(SbVec3f(0,1,0), SbVec3f(sin(forceAngle+beltAngle+M_PI_2),0,cos(forceAngle+beltAngle+M_PI_2))));
updatePlacement(sep, 2, SbVec3f(0, dia/8 + dia/2 * rat1, 0), SbRotation());
const SoSeparator* subsep = static_cast<SoSeparator*>(sep->getChild(4));
updateArrow(subsep, 0, dia/8 + dia/2 * rat1, dia/8);
sep = static_cast<SoSeparator*>(pShapeSep->getChild(4));
updatePlacement(sep, 0, SbVec3f(-dia/2 * sin(forceAngle-beltAngle), 0, -dia/2 * cos(forceAngle-beltAngle)),
SbRotation(SbVec3f(0,1,0), SbVec3f(-sin(forceAngle-beltAngle-M_PI_2),0,-cos(forceAngle-beltAngle-M_PI_2))));
updatePlacement(sep, 2, SbVec3f(0, dia/8 + dia/2 * rat2, 0), SbRotation());
subsep = static_cast<SoSeparator*>(sep->getChild(4));
updateArrow(subsep, 0, dia/8 + dia/2 * rat2, dia/8);
}
} else if ((strcmp(prop->getName(), "ForceAngle") == 0) || (strcmp(prop->getName(), "BeltAngle") == 0)) {
if (pShapeSep->getNumChildren() > 0) {
double radius = pcConstraint->Radius.getValue();
double dia = pcConstraint->Diameter.getValue();
if (dia < 2 * radius)
dia = 2 * radius;
double forceAngle = pcConstraint->ForceAngle.getValue() / 180 * M_PI;
double beltAngle = pcConstraint->BeltAngle.getValue();
const SoSeparator* sep = static_cast<SoSeparator*>(pShapeSep->getChild(3));
updatePlacement(sep, 0, SbVec3f(dia/2 * sin(forceAngle+beltAngle), 0, dia/2 * cos(forceAngle+beltAngle)),
SbRotation(SbVec3f(0,1,0), SbVec3f(sin(forceAngle+beltAngle+M_PI_2),0,cos(forceAngle+beltAngle+M_PI_2))));
sep = static_cast<SoSeparator*>(pShapeSep->getChild(4));
updatePlacement(sep, 0, SbVec3f(-dia/2 * sin(forceAngle-beltAngle), 0, -dia/2 * cos(forceAngle-beltAngle)),
SbRotation(SbVec3f(0,1,0), SbVec3f(-sin(forceAngle-beltAngle-M_PI_2),0,-cos(forceAngle-beltAngle-M_PI_2))));
}
} else if ((strcmp(prop->getName(), "BeltForce1") == 0) || (strcmp(prop->getName(), "BeltForce2") == 0)) {
if (pShapeSep->getNumChildren() > 0) {
double radius = pcConstraint->Radius.getValue();
double dia = pcConstraint->Diameter.getValue();
if (dia < 2 * radius)
dia = 2 * radius;
double rat1 = 0.8, rat2 = 0.2;
double f1 = pcConstraint->BeltForce1.getValue();
double f2 = pcConstraint->BeltForce2.getValue();
if (f1+f2 > Precision::Confusion()) {
rat1 = f1 / (f1+f2);
rat2 = f2 / (f1+f2);
}
const SoSeparator* sep = static_cast<SoSeparator*>(pShapeSep->getChild(3));
updatePlacement(sep, 2, SbVec3f(0, dia/8 + dia/2 * rat1, 0), SbRotation());
const SoSeparator* subsep = static_cast<SoSeparator*>(sep->getChild(4));
updateArrow(subsep, 0, dia/8 + dia/2 * rat1, dia/8);
sep = static_cast<SoSeparator*>(pShapeSep->getChild(4));
updatePlacement(sep, 2, SbVec3f(0, dia/8 + dia/2 * rat2, 0), SbRotation());
subsep = static_cast<SoSeparator*>(sep->getChild(4));
updateArrow(subsep, 0, dia/8 + dia/2 * rat2, dia/8);
}
}
ViewProviderFemConstraint::updateData(prop);
}
void ViewProviderFemConstraintHeatflux::updateData(const App::Property* prop)
{
// Gets called whenever a property of the attached object changes
Fem::ConstraintHeatflux* pcConstraint = static_cast<Fem::ConstraintHeatflux*>(this->getObject());
float scaledradius = RADIUS * pcConstraint->Scale.getValue(); //OvG: Calculate scaled values once only
float scaledheight = HEIGHT * pcConstraint->Scale.getValue();
//float ambienttemp = pcConstraint->AmbientTemp.getValue();
////float facetemp = pcConstraint->FaceTemp.getValue();
//float filmcoef = pcConstraint->FilmCoef.getValue();
if (strcmp(prop->getName(),"Points") == 0) {
const std::vector<Base::Vector3d>& points = pcConstraint->Points.getValues();
const std::vector<Base::Vector3d>& normals = pcConstraint->Normals.getValues();
if (points.size() != normals.size())
return;
std::vector<Base::Vector3d>::const_iterator n = normals.begin();
// Note: Points and Normals are always updated together
pShapeSep->removeAllChildren();
for (std::vector<Base::Vector3d>::const_iterator p = points.begin(); p != points.end(); p++) {
//Define base and normal directions
SbVec3f base(p->x, p->y, p->z);
SbVec3f dir(n->x, n->y, n->z);//normal
///Temperature indication
//define separator
SoSeparator* sep = new SoSeparator();
///draw a temp gauge,with sphere and a cylinder
//first move to correct position
SoTranslation* trans = new SoTranslation();
SbVec3f newPos=base+scaledradius*dir*0.7f;
trans->translation.setValue(newPos);
sep->addChild(trans);
//adjust orientation
SoRotation* rot = new SoRotation();
rot->rotation.setValue(SbRotation(SbVec3f(0,1,0),dir));
sep->addChild(rot);
//define color of shape
SoMaterial* myMaterial = new SoMaterial;
myMaterial->diffuseColor.set1Value(0,SbColor(0.65f,0.1f,0.25f));//RGB
//myMaterial->diffuseColor.set1Value(1,SbColor(.1,.1,.1));//possible to adjust sides separately
sep->addChild(myMaterial);
//draw a sphere
SoSphere* sph = new SoSphere();
sph->radius.setValue(scaledradius*0.75);
sep->addChild(sph);
//translate position
SoTranslation* trans2 = new SoTranslation();
trans2->translation.setValue(SbVec3f(0,scaledheight*0.375,0));
sep->addChild(trans2);
//draw a cylinder
SoCylinder* cyl = new SoCylinder();
cyl->height.setValue(scaledheight*0.5);
cyl->radius.setValue(scaledradius*0.375);
sep->addChild(cyl);
//translate position
SoTranslation* trans3 = new SoTranslation();
trans3->translation.setValue(SbVec3f(0,scaledheight*0.375,0));
sep->addChild(trans3);
//define color of shape
SoMaterial *myMaterial2 = new SoMaterial;
myMaterial2->diffuseColor.set1Value(0,SbColor(1,1,1));//RGB
sep->addChild(myMaterial2);
//draw a cylinder
SoCylinder* cyl2 = new SoCylinder();
cyl2->height.setValue(scaledheight*0.25);
cyl2->radius.setValue(scaledradius*0.375);
sep->addChild(cyl2);
//translate position
SoTranslation* trans4 = new SoTranslation();
trans4->translation.setValue(SbVec3f(0,-scaledheight*0.375,0));
sep->addChild(trans4);
//draw a cylinder
SoCylinder* cyl3 = new SoCylinder();
cyl3->height.setValue(scaledheight*0.05);
cyl3->radius.setValue(scaledradius*1);
sep->addChild(cyl3);
pShapeSep->addChild(sep);
n++;
}
}
// Gets called whenever a property of the attached object changes
ViewProviderFemConstraint::updateData(prop);
}
