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Allow the user to hide the ellipsoid drawn by EllipsoidJoint::generateDecorations() #3445

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merged 1 commit into from
May 4, 2023
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Allow the user to hide the ellipsoid drawn by EllipsoidJoint::generateDecorations() #3445

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5 changes: 5 additions & 0 deletions OpenSim/Simulation/SimbodyEngine/EllipsoidJoint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,10 @@ void EllipsoidJoint::constructProperties()
setAuthors("Ajay Seth");
SimTK::Vec3 radii(NaN);
constructProperty_radii_x_y_z(radii);

Appearance appearance;
appearance.set_visible(true);
constructProperty_Appearance(appearance);
}

//=============================================================================
Expand Down Expand Up @@ -176,6 +180,7 @@ void EllipsoidJoint::generateDecorations
// since this method is called with fixed={true, false}
if (!fixed) return;
// Construct the visible Ellipsoid
if (!get_Appearance().get_visible()) return;
SimTK::DecorativeEllipsoid ellipsoid(get_radii_x_y_z());
const OpenSim::PhysicalFrame& frame = getParentFrame();
ellipsoid.setColor(Vec3(0.0, 1.0, 1.0));
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8 changes: 8 additions & 0 deletions OpenSim/Simulation/SimbodyEngine/EllipsoidJoint.h
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Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,9 @@ OpenSim_DECLARE_CONCRETE_OBJECT(EllipsoidJoint, Joint);
Rotation3Z = 2u ///< 2
};

OpenSim_DECLARE_UNNAMED_PROPERTY(Appearance,
"Default appearance attributes for this EllipsoidJoint");

private:
/** Specify the Coordinates of the EllipsoidJoint */
CoordinateIndex rx{ constructCoordinate(Coordinate::MotionType::Rotational,
Expand Down Expand Up @@ -120,6 +123,11 @@ OpenSim_DECLARE_CONCRETE_OBJECT(EllipsoidJoint, Joint);
//Set properties
void setEllipsoidRadii(const SimTK::Vec3& radii);

/** Turn on/off the ellipsoid drawn by generateDecorations(). */
void setEllipsoidVisible(bool visible) {
upd_Appearance().set_visible(visible);
};

/** Exposes getCoordinate() method defined in base class (overloaded below).
@see Joint */
using Joint::getCoordinate;
Expand Down