GCC Code Coverage Report

Directory: ./
File: src/leaf-node-ground.cpp
Date: 2025-04-14 11:18:00
Exec Total Coverage
Lines: 0 129 0.0%
Branches: 0 192 0.0%
Line Branch Exec Source
1 //
2 // leaf-node-ground.cpp
3 // gepetto-viewer
4 //
5 // Created by Justin Carpentier, Mathieu Geisert in November 2014.
6 // Copyright (c) 2014 LAAS-CNRS. All rights reserved.
7 //
8
9 #include <gepetto/viewer/leaf-node-ground.h>
10
11 namespace gepetto {
12 namespace viewer {
13
14 /* Declaration of private function members */
15 ✗ void LeafNodeGround::init() {
16 ✗ for (auto* n : {&nX_, &nY_}) {
17 ✗ n->min = 2;
18 ✗ n->step = 2;
19 ✗ n->callback(boost::bind(&LeafNodeGround::updateVertices, this));
20 }
21 ✗ for (auto* size : {&square_size_x_, &square_size_y_}) {
22 ✗ size->min = 0.000001f;
23 ✗ size->step = 0.1f;
24 ✗ size->adaptiveDecimal = true;
25 ✗ size->callback(boost::bind(&LeafNodeGround::updateVertices, this));
26 }
27
28 /* Allocation of vertices */
29 ✗ vertices_array_ptr_ = new ::osg::Vec3Array;
30 ✗ colors_array_ptr_ = new ::osg::Vec4Array;
31
32 /* Allocating grid_geometry_ptr_ */
33 ✗ if (!grid_geometry_ptr_.valid()) {
34 ✗ grid_geometry_ptr_ = new ::osg::Geometry;
35 }
36
37 ✗ grid_geometry_ptr_->setVertexArray(vertices_array_ptr_);
38 ✗ grid_geometry_ptr_->setColorArray(colors_array_ptr_);
39
40 ✗ grid_geometry_ptr_->setColorBinding(::osg::Geometry::BIND_PER_VERTEX);
41
42 /* Define the normal to all quads */
43 ✗ ::osg::Vec3ArrayRefPtr normals_array_ptr = new ::osg::Vec3Array;
44 ✗ normals_array_ptr->push_back(osgVector3(0.0f, 0.0f, 1.0f));
45 ✗ grid_geometry_ptr_->setNormalArray(normals_array_ptr);
46 ✗ grid_geometry_ptr_->setNormalBinding(::osg::Geometry::BIND_OVERALL);
47
48 /* Defining type of geometries */
49 ✗ draw_array_ptr_ = new osg::DrawArrays(::osg::PrimitiveSet::QUADS, 0, 0);
50 ✗ grid_geometry_ptr_->addPrimitiveSet(draw_array_ptr_);
51
52 ✗ updateVertices();
53
54 /* Allocating geode_ptr_ */
55 ✗ if (!geode_ptr_.valid()) {
56 ✗ geode_ptr_ = new ::osg::Geode;
57 }
58
59 ✗ geode_ptr_->addDrawable(grid_geometry_ptr_);
60
61 // node_osg_ptr_->asGroup()->addChild(geode_ptr_);
62 ✗ asQueue()->addChild(geode_ptr_);
63
64 /* Apply colors */
65 ✗ setColors(color1_, color2_);
66
67 ✗ if (hasProperty("Color")) properties_.erase("Color");
68 ✗ addProperty(Vector4Property::create("Color1",
69 ✗ Vector4Property::getterFromMemberFunction(
70 this, &LeafNodeGround::getColor1),
71 ✗ Vector4Property::setterFromMemberFunction(
72 this, &LeafNodeGround::setColor1)));
73 ✗ addProperty(Vector4Property::create("Color2",
74 ✗ Vector4Property::getterFromMemberFunction(
75 this, &LeafNodeGround::getColor2),
76 ✗ Vector4Property::setterFromMemberFunction(
77 this, &LeafNodeGround::setColor2)));
78 ✗ addProperty(&nX_);
79 ✗ addProperty(&nY_);
80 ✗ addProperty(&square_size_x_);
81 ✗ addProperty(&square_size_y_);
82 }
83
84 ✗ void LeafNodeGround::updateVertices() {
85 ✗ float sx = square_size_x_.value;
86 ✗ float sy = square_size_y_.value;
87 ✗ int nx = nX_.value;
88 ✗ int ny = nY_.value;
89
90 ✗ osgVector3 corner = osgVector3(-(float)nx * sx / 2, -(float)ny * sy / 2, 0.f);
91
92 /* Allocation of vertices */
93 ✗ vertices_array_ptr_->resize(nx * ny * 4);
94 ✗ colors_array_ptr_->resize(nx * ny * 4);
95
96 ✗ int k = 0;
97 ✗ for (int j(0); j < ny; j++) {
98 ✗ for (int i(0); i < nx; i++) {
99 ✗ vertices_array_ptr_->at(k + 0) =
100 ✗ corner + osgVector3(sx * (float)i, sy * float(j + 1), 0.f);
101 ✗ vertices_array_ptr_->at(k + 1) =
102 ✗ corner + osgVector3(sx * (float)i, sy * (float)j, 0.f);
103 ✗ vertices_array_ptr_->at(k + 2) =
104 ✗ corner + osgVector3(sx * float(i + 1), sy * (float)j, 0.f);
105 ✗ vertices_array_ptr_->at(k + 3) =
106 ✗ corner + osgVector3(sx * float(i + 1), sy * float(j + 1), 0.f);
107
108 ✗ if ((i + j) % 2) {
109 ✗ colors_array_ptr_->at(k + 0) = color1_;
110 ✗ colors_array_ptr_->at(k + 1) = color1_;
111 ✗ colors_array_ptr_->at(k + 2) = color1_;
112 ✗ colors_array_ptr_->at(k + 3) = color1_;
113 } else {
114 ✗ colors_array_ptr_->at(k + 0) = color2_;
115 ✗ colors_array_ptr_->at(k + 1) = color2_;
116 ✗ colors_array_ptr_->at(k + 2) = color2_;
117 ✗ colors_array_ptr_->at(k + 3) = color2_;
118 }
119 ✗ k += 4;
120 }
121 }
122
123 ✗ grid_geometry_ptr_->setColorBinding(::osg::Geometry::BIND_PER_VERTEX);
124
125 /* Defining type of geometries */
126 ✗ draw_array_ptr_->setCount((GLsizei)vertices_array_ptr_->size());
127 ✗ grid_geometry_ptr_->dirtyDisplayList();
128 ✗ setDirty();
129 }
130
131 ✗ void LeafNodeGround::initWeakPtr(const LeafNodeGroundWeakPtr& other_weak_ptr) {
132 ✗ weak_ptr_ = other_weak_ptr;
133 }
134
135 /* End of declaration of private function members */
136
137 /* Declaration of protected function members */
138
139 ✗ LeafNodeGround::LeafNodeGround(const std::string& name, int nX, int nY,
140 float square_length, float square_width,
141 const osgVector4& color1,
142 ✗ const osgVector4& color2)
143 : Node(name),
144 ✗ square_size_x_("CellSizeX"),
145 ✗ square_size_y_("CellSizeY"),
146 ✗ nX_("NbCellsX"),
147 ✗ nY_("NbCellsY"),
148 ✗ color1_(color1),
149 ✗ color2_(color2) {
150 ✗ nX_.value = nX;
151 ✗ nY_.value = nY;
152 ✗ square_size_x_.value = square_length;
153 ✗ square_size_y_.value = square_width;
154 ✗ init();
155 }
156
157 /* End of declaration of protected function members */
158
159 /* Declaration of public function members */
160
161 ✗ LeafNodeGroundPtr_t LeafNodeGround::create(const std::string& name, int nX,
162 int nY, float square_length,
163 float square_width) {
164 LeafNodeGroundPtr_t shared_ptr(new LeafNodeGround(
165 ✗ name, nX, nY, square_length, square_width, osgVector4(0., 0., 0., 1.),
166 ✗ osgVector4(1., 1., 1., 1.)));
167
168 // Add reference to itself
169 ✗ shared_ptr->initWeakPtr(shared_ptr);
170
171 ✗ return shared_ptr;
172 }
173
174 ✗ LeafNodeGroundPtr_t LeafNodeGround::create(const std::string& name) {
175 ✗ return create(name, 10, 10, 1.f, 1.f);
176 }
177
178 ✗ LeafNodeGroundPtr_t LeafNodeGround::self(void) const {
179 ✗ return weak_ptr_.lock();
180 }
181
182 ✗ void LeafNodeGround::setColor(const osgVector4& color) { setColor1(color); }
183
184 ✗ void LeafNodeGround::setColor1(const osgVector4& color1) {
185 ✗ LeafNodeGround::setColors(color1, color2_);
186 }
187
188 ✗ void LeafNodeGround::setColor2(const osgVector4& color2) {
189 ✗ LeafNodeGround::setColors(color1_, color2);
190 }
191
192 ✗ void LeafNodeGround::setColors(const osgVector4& color1,
193 const osgVector4& color2) {
194 ✗ color1_ = color1;
195 ✗ color2_ = color2;
196
197 /* Set colors */
198 ✗ int k = 0;
199 ✗ for (int j(0); j < nY_.value; j++) {
200 ✗ for (int i(0); i < nX_.value; i++) {
201 ✗ if ((i + j) % 2) {
202 ✗ colors_array_ptr_->at(k + 0) = color1_;
203 ✗ colors_array_ptr_->at(k + 1) = color1_;
204 ✗ colors_array_ptr_->at(k + 2) = color1_;
205 ✗ colors_array_ptr_->at(k + 3) = color1_;
206 } else {
207 ✗ colors_array_ptr_->at(k + 0) = color2_;
208 ✗ colors_array_ptr_->at(k + 1) = color2_;
209 ✗ colors_array_ptr_->at(k + 2) = color2_;
210 ✗ colors_array_ptr_->at(k + 3) = color2_;
211 }
212 ✗ k += 4;
213 }
214 }
215
216 /* Apply colors */
217 ✗ setTransparentRenderingBin(
218 ✗ color1[3] < Node::TransparencyRenderingBinThreshold ||
219 ✗ color2[3] < Node::TransparencyRenderingBinThreshold);
220 ✗ setDirty();
221 }
222
223 ✗ LeafNodeGround::~LeafNodeGround() {
224 /* Proper deletion of all tree scene */
225 ✗ geode_ptr_->removeDrawable(grid_geometry_ptr_);
226 ✗ grid_geometry_ptr_ = NULL;
227
228 ✗ this->asQueue()->removeChild(geode_ptr_);
229 ✗ geode_ptr_ = NULL;
230
231 ✗ colors_array_ptr_.release();
232
233 ✗ weak_ptr_.reset();
234 }
235
236 /* End of declaration of public function members */
237 } /* namespace viewer */
238
239 } // namespace gepetto
240