HyperGraphElementAction* CacheSE3OffsetDrawAction::operator()(HyperGraph::HyperGraphElement* element,
HyperGraphElementAction::Parameters* params_){
if (typeid(*element).name()!=_typeName)
return 0;
CacheSE3Offset* that = static_cast<CacheSE3Offset*>(element);
refreshPropertyPtrs(params_);
if (! _previousParams)
return this;
if (_show && !_show->value())
return this;
float cs = _cubeSide ? _cubeSide->value() : 1.0f;
glPushAttrib(GL_COLOR);
glColor3f(POSE_PARAMETER_COLOR);
glPushMatrix();
glMultMatrixd(that->offsetParam()->offset().data());
opengl::drawBox(cs,cs,cs);
glPopMatrix();
glPopAttrib();
return this;
}
HyperGraphElementAction* CacheSE3OffsetDrawAction::operator()(HyperGraph::HyperGraphElement* element,
HyperGraphElementAction::Parameters* params){
if (typeid(*element).name()!=_typeName)
return 0;
CacheSE3Offset* that = static_cast<CacheSE3Offset*>(element);
refreshPropertyPtrs(params);
if (! _previousParams)
return this;
if (_show && !_show->value())
return this;
glPushMatrix();
const Vector3d& offsetT=that->offsetParam()->offset().translation();
AngleAxisd aa(that->offsetParam()->offset().rotation());
glTranslatef(offsetT.x(), offsetT.y(), offsetT.z());
glRotatef(RAD2DEG(aa.angle()),aa.axis().x(),aa.axis().y(),aa.axis().z());
// if (_cubeSide)
// drawMyPyramid(_cubeSide->value(), _cubeSide->value());
glPopMatrix();
return this;
}