static void setShape(Link* link, SgGroup* shape, bool isVisual)
{
SgNodePtr node;
if(shape->empty()){
node = new SgNode;
} else {
SgInvariantGroup* invariant = new SgInvariantGroup;
if(link->Rs().isApprox(Matrix3::Identity())){
shape->copyChildrenTo(invariant);
} else {
SgPosTransform* transformRs = new SgPosTransform;
transformRs->setRotation(link->Rs());
shape->copyChildrenTo(transformRs);
invariant->addChild(transformRs);
}
node = invariant;
}
if(node){
if(isVisual){
link->setVisualShape(node);
} else {
link->setCollisionShape(node);
}
}
}
void TranslationDragger::addCustomAxis(int axis, SgNode* node)
{
SgInvariantGroup* invariant = new SgInvariantGroup;
invariant->setName(axisNames[axis]);
invariant->addChild(node);
customAxes->addChild(invariant);
addChildOnce(customAxes);
}
TranslationDragger::TranslationDragger(bool setDefaultAxes)
{
draggableAxes_ = TX | TY | TZ;
axisCylinderNormalizedRadius = 0.04;
defaultAxesScale = new SgScaleTransform;
customAxes = new SgGroup;
for(int i=0; i < 3; ++i){
SgMaterial* material = new SgMaterial;
Vector3f color(0.2f, 0.2f, 0.2f);
color[i] = 1.0f;
material->setDiffuseColor(Vector3f::Zero());
material->setEmissiveColor(color);
material->setAmbientIntensity(0.0f);
material->setTransparency(0.6f);
axisMaterials[i] = material;
}
if(setDefaultAxes){
MeshGenerator meshGenerator;
SgMeshPtr mesh = meshGenerator.generateArrow(1.8, 0.08, 0.1, 2.5);
for(int i=0; i < 3; ++i){
SgShape* shape = new SgShape;
shape->setMesh(mesh);
shape->setMaterial(axisMaterials[i]);
SgPosTransform* arrow = new SgPosTransform;
arrow->addChild(shape);
if(i == 0){
arrow->setRotation(AngleAxis(-PI / 2.0, Vector3::UnitZ()));
} else if(i == 2){
arrow->setRotation(AngleAxis( PI / 2.0, Vector3::UnitX()));
}
SgInvariantGroup* invariant = new SgInvariantGroup;
invariant->setName(axisNames[i]);
invariant->addChild(arrow);
SgSwitch* axis = new SgSwitch;
axis->addChild(invariant);
defaultAxesScale->addChild(axis);
}
addChild(defaultAxesScale);
}
isContainerMode_ = false;
}