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// |
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// node-rod.cpp |
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// gepetto-viewer |
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// |
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// Created by Pierre Fernbach in may 2015. |
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// Copyright (c) 2015 LAAS-CNRS. All rights reserved. |
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// |
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#include <gepetto/viewer/node-rod.h> |
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#include <sstream> |
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#include "log.hh" |
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namespace gepetto { |
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namespace viewer { |
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// ---- protected constructor ---- // |
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NodeRod::NodeRod(const std::string& name, osgVector4 color, float radius, |
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float totalLength, size_t maxCapsule) |
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: Node(name), list_of_capsule_() { |
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radius_ = radius; |
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totalLength_ = totalLength; |
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color_ = osgVector4(color); |
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maxCapsule_ = maxCapsule; |
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osgVector3 zero; |
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// Z -> -X |
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osgQuat y_90(M_PI / 2, osgVector3(0, 1, 0)); |
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for (size_t i = 0; i < maxCapsule; i++) { |
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std::stringstream nameCap; |
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nameCap << name << "_cap" << i; |
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LeafNodeCapsulePtr_t cap = LeafNodeCapsule::create( |
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nameCap.str(), radius, (totalLength / ((float)maxCapsule)), color); |
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cap->setStaticTransform(zero, y_90); |
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list_of_capsule_.push_back(cap); |
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this->asQueue()->addChild(cap->asGroup()); |
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} |
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} |
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NodeRod::NodeRod(const NodeRod& other) : Node(other) { |
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size_t i; |
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radius_ = other.radius(); |
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totalLength_ = other.totalLength(); |
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color_ = other.color(); |
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maxCapsule_ = other.maxCapsule(); |
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for (i = 0; i < (size_t)other.maxCapsule(); i++) { |
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LeafNodeCapsulePtr_t cap = LeafNodeCapsule::createCopy(other.getCapsule(i)); |
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list_of_capsule_.push_back(cap); |
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} |
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} |
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void NodeRod::initWeakPtr(NodeRodWeakPtr other_weak_ptr) { |
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weak_ptr_ = other_weak_ptr; |
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} |
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//------- public :------- // |
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NodeRodPtr_t NodeRod::create(const std::string& name, osgVector4 color, |
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float radius, float totalLength, |
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short maxCapsule) { |
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NodeRodPtr_t shared_ptr( |
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new NodeRod(name, color, radius, totalLength, maxCapsule)); |
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// Add reference to itself |
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shared_ptr->initWeakPtr(shared_ptr); |
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return shared_ptr; |
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} |
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NodeRodPtr_t NodeRod::createCopy(NodeRodPtr_t other) { |
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NodeRodPtr_t shared_ptr(new NodeRod(*other)); |
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// Add reference to itself |
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shared_ptr->initWeakPtr(shared_ptr); |
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return shared_ptr; |
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} |
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NodeRodPtr_t NodeRod::self(void) const { return weak_ptr_.lock(); } |
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std::string NodeRod::getCapsuleName(size_t i) { |
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return list_of_capsule_.at(i)->getID(); |
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} |
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LeafNodeCapsulePtr_t NodeRod::getCapsule(size_t i) const { |
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return list_of_capsule_.at(i); |
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} |
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/** |
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Applyconfiguration to all the capsules of the rod, |
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params is a sequence of maxCapsule parameter, size 8 (length + pos + quat), or |
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size 7 (pos + quat) quat : (w,x,y,z) |
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*/ |
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void NodeRod::applyConfiguration(std::vector<std::vector<value_type> > params) { |
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if (params.size() != (size_t)maxCapsule_) |
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log() << "Error in rod Applyconfiguration : the size of the sequence must " |
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"be the same as the number of capsules" |
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<< std::endl; |
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for (size_t i = 0; i < params.size(); i++) { |
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if (params.at(i).size() == 8) { |
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list_of_capsule_.at(i)->setHeight(params.at(i)[0]); |
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::osg::Quat quat = ::osg::Quat(params.at(i)[5], params.at(i)[6], |
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params.at(i)[7], params.at(i)[4]); |
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::osg::Vec3f pos = |
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::osg::Vec3f(params.at(i)[1], params.at(i)[2], params.at(i)[3]); |
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list_of_capsule_.at(i)->applyConfiguration(pos, quat); |
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} else if (params.at(i).size() == 7) { |
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::osg::Quat quat = ::osg::Quat(params.at(i)[4], params.at(i)[5], |
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params.at(i)[6], params.at(i)[3]); |
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::osg::Vec3f pos = |
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::osg::Vec3f(params.at(i)[0], params.at(i)[1], params.at(i)[2]); |
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list_of_capsule_.at(i)->applyConfiguration(pos, quat); |
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} else |
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log() << "Parameter must have 7 or 8 elements" << std::endl; |
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} |
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} |
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} /* namespace viewer */ |
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} // namespace gepetto |
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