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// Copyright (c) 2019 CNRS |
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// Authors: Joseph Mirabel |
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// |
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// This file is part of hpp-gui |
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// hpp-gui is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// hpp-gui is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// hpp-gui If not, see |
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// <http://www.gnu.org/licenses/>. |
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#include <coal/mesh_loader/assimp.h> |
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#include <node.hh> |
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namespace hpp { |
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namespace gui { |
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BVHDisplay::BVHDisplay(const std::string& filename, const std::string& name) |
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: Node(name), filename_(filename) { |
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setWireFrameMode(gepetto::viewer::WIREFRAME); |
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} |
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void BVHDisplay::setColor(const osgVector4&) { |
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// TODO |
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} |
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void BVHDisplay::setLevel(const int& level) { |
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if (level >= (int)levels_.size()) |
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throw std::invalid_argument("level out of range"); |
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this->asQueue()->replaceChild(levels_[level_].geode, levels_[level].geode); |
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level_ = level; |
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} |
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void BVHDisplay::init(coal::SplitMethodType splitMethod) { |
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using namespace coal; |
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BVHPtr_t bvh(new BVH_t); |
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bvh->bv_splitter.reset(new BVSplitter<BoundingVolume>(splitMethod)); |
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loadPolyhedronFromResource(filename_, Vec3f(1, 1, 1), bvh); |
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recursiveBuildTree(*bvh, 0, 0); |
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level_ = 0; |
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this->asQueue()->addChild(levels_[0].geode); |
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using gepetto::viewer::RangedIntProperty; |
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RangedIntProperty::Ptr_t levelProp = RangedIntProperty::create( |
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"Level", this, &BVHDisplay::getLevel, &BVHDisplay::setLevel); |
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levelProp->min = 0; |
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levelProp->max = (int)(levels_.size() - 1); |
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addProperty(levelProp); |
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} |
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void BVHDisplay::recursiveBuildTree(const BVH_t& bvh, int ibv, |
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std::size_t level) { |
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if (levels_.size() <= level) levels_.resize(level + 1); |
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BVLevel& bvlevel = levels_[level]; |
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const BoundingVolume& bv = bvh.getBV(ibv).bv; |
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::osg::BoxRefPtr box = new ::osg::Box(); |
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box->setCenter(osg::Vec3((float)bv.To[0], (float)bv.To[1], (float)bv.To[2])); |
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box->setHalfLengths( |
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osg::Vec3((float)bv.extent[0], (float)bv.extent[1], (float)bv.extent[2])); |
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Eigen::Quaterniond q(bv.axes); |
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box->setRotation(::osg::Quat(q.x(), q.y(), q.z(), q.w())); |
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::osg::ShapeDrawableRefPtr drawable = new ::osg::ShapeDrawable(box); |
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bvlevel.boxes.push_back(box); |
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if (!bvlevel.geode) bvlevel.geode = new ::osg::Geode; |
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bvlevel.geode->addDrawable(drawable); |
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if (bvh.getBV(ibv).isLeaf()) return; |
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recursiveBuildTree(bvh, bvh.getBV(ibv).leftChild(), level + 1); |
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recursiveBuildTree(bvh, bvh.getBV(ibv).rightChild(), level + 1); |
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} |
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} // namespace gui |
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} // namespace hpp |
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