77 lines
2.4 KiB
C++
77 lines
2.4 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/rendering/DynamicLines.hh"
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#include "gazebo/rendering/OriginVisualPrivate.hh"
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#include "gazebo/rendering/OriginVisual.hh"
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using namespace gazebo;
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using namespace rendering;
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/////////////////////////////////////////////////
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OriginVisual::OriginVisual(const std::string &_name, VisualPtr _vis)
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: Visual(*new OriginVisualPrivate, _name, _vis, false)
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{
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OriginVisualPrivate *dPtr =
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reinterpret_cast<OriginVisualPrivate *>(this->dataPtr);
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dPtr->type = VT_GUI;
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}
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/////////////////////////////////////////////////
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OriginVisual::~OriginVisual()
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{
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OriginVisualPrivate *dPtr =
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reinterpret_cast<OriginVisualPrivate *>(this->dataPtr);
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this->DeleteDynamicLine(dPtr->xLine);
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this->DeleteDynamicLine(dPtr->yLine);
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this->DeleteDynamicLine(dPtr->zLine);
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}
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/////////////////////////////////////////////////
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void OriginVisual::Load()
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{
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Visual::Load();
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OriginVisualPrivate *dPtr =
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reinterpret_cast<OriginVisualPrivate *>(this->dataPtr);
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dPtr->length = 1000;
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dPtr->xLine = this->CreateDynamicLine(
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rendering::RENDERING_LINE_LIST);
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dPtr->xLine->setMaterial("Gazebo/Red");
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dPtr->xLine->AddPoint(ignition::math::Vector3d::Zero);
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dPtr->xLine->AddPoint(ignition::math::Vector3d::UnitX*dPtr->length);
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dPtr->yLine = this->CreateDynamicLine(
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rendering::RENDERING_LINE_LIST);
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dPtr->yLine->setMaterial("Gazebo/Green");
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dPtr->yLine->AddPoint(ignition::math::Vector3d::Zero);
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dPtr->yLine->AddPoint(ignition::math::Vector3d::UnitY*dPtr->length);
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dPtr->zLine = this->CreateDynamicLine(
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rendering::RENDERING_LINE_LIST);
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dPtr->zLine->setMaterial("Gazebo/Blue");
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dPtr->zLine->AddPoint(ignition::math::Vector3d::Zero);
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dPtr->zLine->AddPoint(ignition::math::Vector3d::UnitZ*dPtr->length);
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this->SetVisibilityFlags(GZ_VISIBILITY_GUI);
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}
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