138 lines
4.0 KiB
C++
138 lines
4.0 KiB
C++
/*
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* Copyright (C) 2012 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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/* Desc: Arrow Visualization Class
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* Author: Nate Koenig
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*/
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#include "gazebo/common/MeshManager.hh"
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#include "gazebo/rendering/ogre_gazebo.h"
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#include "gazebo/rendering/Scene.hh"
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#include "gazebo/rendering/ArrowVisualPrivate.hh"
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#include "gazebo/rendering/ArrowVisual.hh"
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using namespace gazebo;
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using namespace rendering;
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/////////////////////////////////////////////////
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ArrowVisual::ArrowVisual(const std::string &_name, VisualPtr _vis)
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: Visual(*new ArrowVisualPrivate, _name, _vis, false)
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{
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ArrowVisualPrivate *dPtr =
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reinterpret_cast<ArrowVisualPrivate *>(this->dataPtr);
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dPtr->type = VT_GUI;
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dPtr->headNodeVisible = true;
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dPtr->shaftNodeVisible = true;
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dPtr->rotationNodeVisible = false;
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}
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/////////////////////////////////////////////////
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void ArrowVisual::Load()
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{
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Visual::Load();
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ArrowVisualPrivate *dPtr =
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reinterpret_cast<ArrowVisualPrivate *>(this->dataPtr);
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// Make sure the meshes are in Ogre
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this->InsertMesh("axis_shaft");
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this->InsertMesh("axis_head");
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dPtr->shaftVis.reset(
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new Visual(this->GetName()+"__SHAFT__", shared_from_this(), false));
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dPtr->shaftVis->Load();
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dPtr->shaftVis->AttachMesh("axis_shaft");
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dPtr->shaftVis->SetPosition(math::Vector3(0, 0, 0.1));
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dPtr->shaftVis->SetCastShadows(false);
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dPtr->shaftVis->SetType(VT_GUI);
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dPtr->headVis.reset(
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new Visual(this->GetName()+"__HEAD__", shared_from_this(), false));
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dPtr->headVis->Load();
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dPtr->headVis->AttachMesh("axis_head");
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dPtr->headVis->SetPosition(math::Vector3(0, 0, 0.24));
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dPtr->headVis->SetCastShadows(false);
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dPtr->headVis->SetType(VT_GUI);
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common::MeshManager::Instance()->CreateTube("rotation_tube",
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0.035, 0.04, 0.01, 1, 32);
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this->InsertMesh("rotation_tube");
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dPtr->rotationVis.reset(
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new Visual(this->GetName()+"__ROTATION__", shared_from_this(), false));
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dPtr->rotationVis->Load();
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dPtr->rotationVis->AttachMesh("rotation_tube");
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dPtr->rotationVis->SetPosition(math::Vector3(0, 0, 0.24));
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dPtr->rotationVis->SetCastShadows(false);
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dPtr->rotationVis->SetType(VT_GUI);
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this->ShowRotation(false);
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this->SetVisibilityFlags(GZ_VISIBILITY_GUI);
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}
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/////////////////////////////////////////////////
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void ArrowVisual::ShowShaft(bool _show)
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{
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ArrowVisualPrivate *dPtr =
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reinterpret_cast<ArrowVisualPrivate *>(this->dataPtr);
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dPtr->shaftNodeVisible = _show;
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if (dPtr->shaftVis)
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dPtr->shaftVis->SetVisible(_show);
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}
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/////////////////////////////////////////////////
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void ArrowVisual::ShowHead(bool _show)
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{
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ArrowVisualPrivate *dPtr =
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reinterpret_cast<ArrowVisualPrivate *>(this->dataPtr);
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dPtr->headNodeVisible = _show;
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if (dPtr->headVis)
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dPtr->headVis->SetVisible(_show);
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}
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/////////////////////////////////////////////////
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void ArrowVisual::ShowRotation(bool _show)
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{
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ArrowVisualPrivate *dPtr =
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reinterpret_cast<ArrowVisualPrivate *>(this->dataPtr);
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dPtr->rotationNodeVisible = _show;
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if (dPtr->rotationVis)
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dPtr->rotationVis->SetVisible(_show);
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}
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/////////////////////////////////////////////////
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void ArrowVisual::SetVisible(bool _visible, bool _cascade)
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{
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ArrowVisualPrivate *dPtr =
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reinterpret_cast<ArrowVisualPrivate *>(this->dataPtr);
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dPtr->headVis->SetVisible(dPtr->headNodeVisible && _visible, _cascade);
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dPtr->shaftVis->SetVisible(dPtr->shaftNodeVisible && _visible, _cascade);
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dPtr->rotationVis->SetVisible(
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dPtr->rotationNodeVisible && _visible, _cascade);
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this->dataPtr->visible = _visible;
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}
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