bool CoreComponentRenderModel::initRenderModel() {
bool meshLoading = this->mesh_->loadMesh("../models/CoreComponent.stl");
if (!meshLoading) {
std::cerr << "[CoreComponentRenderModel] Error loading model"
<< std::endl;
return false;
}
if (isDebugActive()) {
this->showDebugView();
return true;
}
// display with plate down, as this is how will be in reality
// (we want the arduino to be on top so wires can come out)
this->mesh_->getMesh()->setAttitude(
osg::Quat(osg::inDegrees(180.0), osg::Vec3(1, 0, 0)));
this->getRootNode()->addChild(this->mesh_->getMesh());
this->getRootNode()->setUpdateCallback(
new BodyCallback(this->getModel(),
CoreComponentModel::B_CORE_COMPONENT_ID));
return true;
}
bool CoreComponentRenderModel::initRenderModel() {
bool meshLoading = this->mesh_->loadMesh(RobogenUtils::getMeshFile(
this->getModel(),CoreComponentModel::B_CORE_COMPONENT_ID));
if (!meshLoading) {
std::cerr << "[CoreComponentRenderModel] Error loading model"
<< std::endl;
return false;
}
if (isDebugActive()) {
this->showDebugView();
}
osg::ref_ptr<osg::PositionAttitudeTransform> brick = this->mesh_->getMesh();
this->mesh_->getMesh()->setAttitude(
RobogenUtils::getRelativeAttitude(this->getModel(),
CoreComponentModel::B_CORE_COMPONENT_ID));
osg::ref_ptr<osg::PositionAttitudeTransform> brickFrame(
new osg::PositionAttitudeTransform());
brickFrame->addChild(brick);
this->getMeshes()->addChild(brickFrame.get());
brickFrame->setUpdateCallback(
new BodyCallback(this->getModel(),
CoreComponentModel::B_CORE_COMPONENT_ID));
if (boost::dynamic_pointer_cast<CoreComponentModel>(this->getModel())->
isCore() ) {
this->setColor(osg::Vec4(1,0,0,0.7));
} else {
this->setColor(osg::Vec4(1,1,1,0.7));
}
if (isDebugActive()) {
this->activateTransparency(brick->getOrCreateStateSet());
}
return true;
}
bool TouchSensorRenderModel::initRenderModel() {
bool meshLoadingA = this->partA_->loadMesh(
RobogenUtils::getMeshFile(this->getModel(),
TouchSensorModel::B_SENSOR_BASE_ID));
if (!meshLoadingA) {
std::cerr << "[TouchSensorRenderModel] Error loading model"
<< std::endl;
return false;
}
if (isDebugActive()) {
this->showDebugView();
}
// PART A
osg::ref_ptr<osg::PositionAttitudeTransform> partA =
this->partA_->getMesh();
partA->setAttitude(RobogenUtils::getRelativeAttitude(this->getModel(),
TouchSensorModel::B_SENSOR_BASE_ID));
partA->setPosition(RobogenUtils::getRelativePosition(this->getModel(),
TouchSensorModel::B_SENSOR_BASE_ID));
partA_->setColor(osg::Vec4(1, 0, 0, 0.5));
osg::ref_ptr<osg::PositionAttitudeTransform> patPartA(
new osg::PositionAttitudeTransform());
patPartA->addChild(partA);
this->getMeshes()->addChild(patPartA.get());
patPartA->setUpdateCallback(
new BodyCallback(this->getModel(),
TouchSensorModel::B_SENSOR_BASE_ID));
if(isDebugActive()) {
this->activateTransparency(patPartA->getOrCreateStateSet());
}
return true;
}
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 ActiveHingeRenderModel::initRenderModel() {
bool meshLoadingA = this->partA_->loadMesh(
RobogenUtils::getMeshFile(this->getModel(),
ActiveHingeModel::B_SLOT_A_ID));
if (!meshLoadingA) {
std::cerr << "[ActiveHingeRenderModel] Error loading model"
<< std::endl;
return false;
}
bool meshLoadingB = this->partB_->loadMesh(
RobogenUtils::getMeshFile(this->getModel(),
ActiveHingeModel::B_SLOT_B_ID));
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));
frame->setPosition(RobogenUtils::getRelativePosition(this->getModel(),
ActiveHingeModel::B_SLOT_A_ID));
frame->setAttitude(RobogenUtils::getRelativeAttitude(this->getModel(),
ActiveHingeModel::B_SLOT_A_ID));
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
osg::ref_ptr<osg::PositionAttitudeTransform> servo =
this->partB_->getMesh();
servo->setPosition(RobogenUtils::getRelativePosition(this->getModel(),
ActiveHingeModel::B_SLOT_B_ID));
servo->setAttitude(RobogenUtils::getRelativeAttitude(this->getModel(),
ActiveHingeModel::B_SLOT_B_ID));
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;
}
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;
}
