101 lines
3.0 KiB
C++
101 lines
3.0 KiB
C++
/*
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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/rendering/ogre_gazebo.h"
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#include "gazebo/rendering/AxisVisual.hh"
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#include "gazebo/rendering/LinkFrameVisualPrivate.hh"
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#include "gazebo/rendering/LinkFrameVisual.hh"
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using namespace gazebo;
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using namespace rendering;
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/////////////////////////////////////////////////
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LinkFrameVisual::LinkFrameVisual(const std::string &_name, VisualPtr _parent)
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: AxisVisual(*new LinkFrameVisualPrivate, _name, _parent)
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{
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LinkFrameVisualPrivate *dPtr =
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reinterpret_cast<LinkFrameVisualPrivate *>(this->dataPtr);
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dPtr->type = VT_PHYSICS;
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dPtr->highlightedTransp = 0.01;
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dPtr->nonHighlightedTransp = 0.8;
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}
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/////////////////////////////////////////////////
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void LinkFrameVisual::Load()
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{
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LinkFrameVisualPrivate *dPtr =
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reinterpret_cast<LinkFrameVisualPrivate *>(this->dataPtr);
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AxisVisual::Load();
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this->RecalculateScale();
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// Don't scale when link is scaled
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this->GetSceneNode()->setInheritScale(false);
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this->ShowAxisHead(0, false);
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this->ShowAxisHead(1, false);
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this->ShowAxisHead(2, false);
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this->SetInheritTransparency(false);
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this->SetTransparency(dPtr->nonHighlightedTransp);
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this->SetCastShadows(false);
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}
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/////////////////////////////////////////////////
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void LinkFrameVisual::RecalculateScale()
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{
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LinkFrameVisualPrivate *dPtr =
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reinterpret_cast<LinkFrameVisualPrivate *>(this->dataPtr);
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double linkSize = std::max(0.1,
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dPtr->parent->GetBoundingBox().GetSize().GetLength());
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linkSize = std::min(linkSize, 1.0);
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dPtr->scaleToLink = math::Vector3(linkSize * 0.7,
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linkSize * 0.7,
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linkSize * 0.7);
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// Scale according to the link it is attached to
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if (dPtr->scaleToLink != math::Vector3::Zero)
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this->SetScale(dPtr->scaleToLink);
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}
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//////////////////////////////////////////////////
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void LinkFrameVisual::SetHighlighted(bool _highlighted)
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{
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LinkFrameVisualPrivate *dPtr =
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reinterpret_cast<LinkFrameVisualPrivate *>(this->dataPtr);
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if (_highlighted)
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{
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this->SetTransparency(dPtr->highlightedTransp);
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}
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else
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{
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this->SetTransparency(dPtr->nonHighlightedTransp);
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}
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}
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//////////////////////////////////////////////////
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bool LinkFrameVisual::GetHighlighted()
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{
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LinkFrameVisualPrivate *dPtr =
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reinterpret_cast<LinkFrameVisualPrivate *>(this->dataPtr);
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return math::equal(this->GetTransparency(), dPtr->highlightedTransp);
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}
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