void
CompliantPlannerDlg::generateButtonClicked()
{
int resolution = resolutionEdit->text().toInt();
if (resolution < 1) {
DBGA("Resolution must be at least 1");
return;
}
//get object bbox dimensions
SoGetBoundingBoxAction *bba =
new SoGetBoundingBoxAction(graspitCore->getIVmgr()->getViewer()->getViewportRegion());
bba->apply(mObject->getIVGeomRoot());
SbVec3f bbmin,bbmax;
bba->getBoundingBox().getBounds(bbmin,bbmax);
delete bba;
double a = 0.5*(bbmax[0] - bbmin[0]);
double b = 0.5*(bbmax[1] - bbmin[1]);
double c = 0.5*(bbmax[2] - bbmin[2]);
//ellipsoidSampling(a,b,c,resolution);
boxSampling(a,b,c, resolution);
mPlanner->resetPlanner();
if (visualMarkersBox->isChecked()) {
visualMarkersBoxClicked();
}
update();
}
SbBox3f ViewProviderDatum::getRelevantBoundBox (
SoGetBoundingBoxAction &bboxAction, const std::vector <App::DocumentObject *> &objs )
{
SbBox3f bbox(0,0,0, 0,0,0);
// Adds the bbox of given feature to the output
for (auto obj :objs) {
ViewProvider *vp = Gui::Application::Instance->getViewProvider(obj);
if (!vp) {
continue;
}
if (!vp->isVisible ()) {
continue;
}
if (obj->isDerivedFrom (Part::Datum::getClassTypeId() ) ) {
// Treat datums only as their basepoint
// I hope it's ok to take FreeCAD's point here
Base::Vector3d basePoint = static_cast<Part::Datum *> ( obj )->getBasePoint ();
bbox.extendBy (SbVec3f(basePoint.x, basePoint.y, basePoint.z ));
} else {
bboxAction.apply ( vp->getRoot () );
SbBox3f obj_bbox = bboxAction.getBoundingBox ();
if ( obj_bbox.getVolume () < Precision::Infinite () ) {
bbox.extendBy ( obj_bbox );
}
}
}
return bbox;
}