[OMEdit] Implement visualization of Vector

- Create VectorObject class inheriting AbstractVisualizerObject - Read VectorObject attributes from MAT/CSV/FMU files - Visualize VectorObject as a composite of three OSG shapes (one cylinder for the shaft, two cones for both heads) - Select scale/length/radius constants from MSL default parameters
OpenModelica · Jun 19, 2022 · d2a23be · d2a23be
1 parent ba864fe
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Showing 10 changed files with 562 additions and 4 deletions.
diff --git a/OMEdit/OMEditLIB/Animation/Vector.cpp b/OMEdit/OMEditLIB/Animation/Vector.cpp
@@ -0,0 +1,95 @@
+/*
+ * This file is part of OpenModelica.
+ *
+ * Copyright (c) 1998-CurrentYear, Open Source Modelica Consortium (OSMC),
+ * c/o Linköpings universitet, Department of Computer and Information Science,
+ * SE-58183 Linköping, Sweden.
+ *
+ * All rights reserved.
+ *
+ * THIS PROGRAM IS PROVIDED UNDER THE TERMS OF GPL VERSION 3 LICENSE OR
+ * THIS OSMC PUBLIC LICENSE (OSMC-PL) VERSION 1.2.
+ * ANY USE, REPRODUCTION OR DISTRIBUTION OF THIS PROGRAM CONSTITUTES
+ * RECIPIENT'S ACCEPTANCE OF THE OSMC PUBLIC LICENSE OR THE GPL VERSION 3,
+ * ACCORDING TO RECIPIENTS CHOICE.
+ *
+ * The OpenModelica software and the Open Source Modelica
+ * Consortium (OSMC) Public License (OSMC-PL) are obtained
+ * from OSMC, either from the above address,
+ * from the URLs: http://www.ida.liu.se/projects/OpenModelica or
+ * http://www.openmodelica.org, and in the OpenModelica distribution.
+ * GNU version 3 is obtained from: http://www.gnu.org/copyleft/gpl.html.
+ *
+ * This program is distributed WITHOUT ANY WARRANTY; without
+ * even the implied warranty of  MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE, EXCEPT AS EXPRESSLY SET FORTH
+ * IN THE BY RECIPIENT SELECTED SUBSIDIARY LICENSE CONDITIONS OF OSMC-PL.
+ *
+ * See the full OSMC Public License conditions for more details.
+ *
+ */
+
+#include "Vector.h"
+
+#include <cmath>
+
+std::ostream& operator<<(std::ostream& os, const VectorQuantity quantity)
+{
+  switch (quantity)
+  {
+    case VectorQuantity::force:
+      return os << "force";
+    case VectorQuantity::torque:
+      return os << "torque";
+    case VectorQuantity::velocity:
+      return os << "velocity";
+    case VectorQuantity::acceleration:
+      return os << "acceleration";
+    case VectorQuantity::angularVelocity:
+      return os << "angular velocity";
+    case VectorQuantity::angularAcceleration:
+      return os << "angular acceleration";
+    case VectorQuantity::relativePosition:
+      return os << "relative position";
+    default:
+      return os;
+  }
+}
+
+VectorObject::VectorObject()
+    : AbstractVisualizerObject(VisualizerType::vector),
+      _quantity(VisualizerAttribute(0.0)),
+      _headAtOrigin(VisualizerAttribute(0.0)),
+      _twoHeadedArrow(VisualizerAttribute(0.0))
+{
+  _coords[0] = VisualizerAttribute(1.0);
+  _coords[1] = VisualizerAttribute(0.0);
+  _coords[2] = VisualizerAttribute(0.0);
+}
+
+void VectorObject::dumpVisualizerAttributes() const
+{
+  AbstractVisualizerObject::dumpVisualizerAttributes();
+  std::cout << "coords " << _coords[0].getValueString() << " , " << _coords[1].getValueString() << " , " << _coords[2].getValueString() << std::endl;
+  std::cout << "quantity " << _quantity.getValueString() << " = " << getQuantity() << std::endl;
+  std::cout << "headAtOrigin " << _headAtOrigin.getValueString() << " = " << (hasHeadAtOrigin() ? "true" : "false") << std::endl;
+  std::cout << "twoHeadedArrow " << _twoHeadedArrow.getValueString() << " = " << (isTwoHeadedArrow() ? "true" : "false") << std::endl;
+}
+
+float VectorObject::getScale() const
+{
+  switch (getQuantity())
+  {
+    case VectorQuantity::force:
+      return kScaleForce;
+    case VectorQuantity::torque:
+      return kScaleTorque;
+    default:
+      return 1;
+  }
+}
+
+float VectorObject::getLength() const
+{
+  return std::sqrt(std::pow(_coords[0].exp, 2) + std::pow(_coords[1].exp, 2) + std::pow(_coords[2].exp, 2)) / getScale();
+}
diff --git a/OMEdit/OMEditLIB/Animation/Vector.h b/OMEdit/OMEditLIB/Animation/Vector.h
@@ -0,0 +1,71 @@
+/*
+ * This file is part of OpenModelica.
+ *
+ * Copyright (c) 1998-CurrentYear, Open Source Modelica Consortium (OSMC),
+ * c/o Linköpings universitet, Department of Computer and Information Science,
+ * SE-58183 Linköping, Sweden.
+ *
+ * All rights reserved.
+ *
+ * THIS PROGRAM IS PROVIDED UNDER THE TERMS OF GPL VERSION 3 LICENSE OR
+ * THIS OSMC PUBLIC LICENSE (OSMC-PL) VERSION 1.2.
+ * ANY USE, REPRODUCTION OR DISTRIBUTION OF THIS PROGRAM CONSTITUTES
+ * RECIPIENT'S ACCEPTANCE OF THE OSMC PUBLIC LICENSE OR THE GPL VERSION 3,
+ * ACCORDING TO RECIPIENTS CHOICE.
+ *
+ * The OpenModelica software and the Open Source Modelica
+ * Consortium (OSMC) Public License (OSMC-PL) are obtained
+ * from OSMC, either from the above address,
+ * from the URLs: http://www.ida.liu.se/projects/OpenModelica or
+ * http://www.openmodelica.org, and in the OpenModelica distribution.
+ * GNU version 3 is obtained from: http://www.gnu.org/copyleft/gpl.html.
+ *
+ * This program is distributed WITHOUT ANY WARRANTY; without
+ * even the implied warranty of  MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE, EXCEPT AS EXPRESSLY SET FORTH
+ * IN THE BY RECIPIENT SELECTED SUBSIDIARY LICENSE CONDITIONS OF OSMC-PL.
+ *
+ * See the full OSMC Public License conditions for more details.
+ *
+ */
+
+#ifndef VECTOR_H
+#define VECTOR_H
+
+#include "AbstractVisualizer.h"
+
+/*! Equivalent to Modelica.Mechanics.MultiBody.Types.VectorQuantity */
+enum class VectorQuantity {force = 1, torque, velocity, acceleration, angularVelocity, angularAcceleration, relativePosition};
+
+std::ostream& operator<<(std::ostream& os, const VectorQuantity quantity);
+
+class VectorObject : public AbstractVisualizerObject
+{
+public:
+  VectorObject();
+  ~VectorObject() = default;
+  VectorObject(const VectorObject&) = default;
+  VectorObject& operator=(const VectorObject&) = default;
+  void dumpVisualizerAttributes() const override;
+  float getScale() const;
+  float getLength() const;
+  float getRadius() const {return kRadius;}
+  float getHeadLength() const {return kHeadLength;}
+  float getHeadRadius() const {return kHeadRadius;}
+  VectorQuantity getQuantity() const {return static_cast<VectorQuantity>(_quantity.exp);}
+  bool hasHeadAtOrigin() const {return _headAtOrigin.exp;}
+  bool isTwoHeadedArrow() const {return _twoHeadedArrow.exp;}
+private:
+  const float kRadius      = 0.0125; //!< Modelica.Mechanics.MultiBody.World.defaultArrowDiameter / 2 = 1 / 40 / 2 = 0.0125
+  const float kHeadLength  = 0.1000; //!< Modelica.Mechanics.MultiBody.Types.Defaults.ArrowHeadLengthFraction * (2 * kRadius) = 4 * 0.025 = 0.1000
+  const float kHeadRadius  = 0.0375; //!< Modelica.Mechanics.MultiBody.Types.Defaults.ArrowHeadWidthFraction * (2 * kRadius) / 2 = 3 * 0.025 / 2 = 0.0375
+  const float kScaleForce  =   1200; //!< Modelica.Mechanics.MultiBody.Examples.Elementary.ForceAndTorque.world.defaultN_to_m = 1200
+  const float kScaleTorque =    120; //!< Modelica.Mechanics.MultiBody.Examples.Elementary.ForceAndTorque.world.defaultNm_to_m = 120
+public:
+  VisualizerAttribute _coords[3];
+  VisualizerAttribute _quantity;
+  VisualizerAttribute _headAtOrigin;
+  VisualizerAttribute _twoHeadedArrow;
+};
+
+#endif
diff --git a/OMEdit/OMEditLIB/Animation/ViewerWidget.cpp b/OMEdit/OMEditLIB/Animation/ViewerWidget.cpp
@@ -464,11 +464,15 @@ void ViewerWidget::removeTexture()
 void ViewerWidget::resetTransparencyAndTextureForAllVisualizers()
 {
   std::vector<ShapeObject>& shapes = mpAnimationWidget->getVisualization()->getBaseData()->_shapes;
+  std::vector<VectorObject>& vectors = mpAnimationWidget->getVisualization()->getBaseData()->_vectors;
   std::vector<std::reference_wrapper<AbstractVisualizerObject>> visualizers;
-  visualizers.reserve(shapes.size());
+  visualizers.reserve(shapes.size() + vectors.size());
   for (ShapeObject& shape : shapes) {
     visualizers.push_back(shape);
   }
+  for (VectorObject& vector : vectors) {
+    visualizers.push_back(vector);
+  }
   for (AbstractVisualizerObject& visualizer : visualizers) {
     visualizer.setTransparency(0.0);
     visualizer.setTextureImagePath("");