Added Ellipsoid Geometry #203
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Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
Codecov Report
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Hits 8558 8558
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Signed-off-by: ahcorde <ahcorde@gmail.com>
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Depends on gazebosim/gz-common#154 |
ahcorde
added
the
needs upstream release
Signed-off-by: ahcorde <ahcorde@gmail.com>
ogre2/src/Ogre2Scene.cc
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| EllipsoidPtr Ogre2Scene::CreateEllipsoidImpl(unsigned int _id, | ||
| const std::string &_name) | ||
| { | ||
| Ogre2EllipsoidPtr ellipsoid(new Ogre2Ellipsoid); |
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I'm curious, why did you create an Ogre2Ellipsoid class instead of following the same pattern as sphere, cylinder, box, plane, and using CreateMeshImpl?
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I created an implementation without having a look how the basic shapes were done. I can remove the code in both shapes (capsule and ellipsoid) probably is going to be easy to maintain.
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@iche033 any thoughts?
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+1 on using CreateMeshImpl. We could add a unit_ellipsoid in ign-common and make use of that here in ign-rendering.
Signed-off-by: ahcorde <ahcorde@gmail.com>
ogre/src/OgreScene.cc
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| MeshPtr OgreScene::CreateEllipsoidImpl( | ||
| unsigned int _id, const std::string &_name) | ||
| { | ||
| return this->CreateMeshImpl(_id, _name, "unit_ellipsoid"); |
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As discussed in gazebosim/gz-common#165, this could just be unit_sphere
examples/simple_demo/Main.cc
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| // create ellipsoid visual | ||
| VisualPtr ellipsoidVisual = _scene->CreateVisual(); | ||
| auto ellipsoid = _scene->CreateEllipsoid(); | ||
| ellipsoid->SetRadii(ignition::math::Vector3d(1.2, 0.7, 0.5)); |
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This example needs to be updated now that there's no ellipsoid class. The ellipsoid's size will be defined using SetLocalScale, the same way as the sphere above.
Which brings the question of whether special API is needed for the ellipsoid at all. Despite its name, ign-rendering's "sphere" already behaves like an "ellipsoid", because it can be scaled in 3 dimensions.
At this point, my suggestion would be to:
- remove all the ellipsoid logic added in this PR
- update
CreateSphere's documentation to say that it can be used to create ellipsoids - update this example to create an "ellipsoid" through the
CreateSpherefunction
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Thank you for the bullet points 👷
Signed-off-by: ahcorde <ahcorde@gmail.com>
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chapulina
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Added Ellipsoid geometry. Related with this issue #198
Ogre 2
Ogre:
Signed-off-by: ahcorde ahcorde@gmail.com