Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[Geomagic] Fix broken behavior #761

Merged
merged 2 commits into from Sep 6, 2018
Merged

[Geomagic] Fix broken behavior #761

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
37b8a77
[Geomagic plugin] Clean some compilation warnings.
epernod Aug 30, 2018
d2ae194
[Geomagic plugin] Fix: visitor update need to be called on the omni v…
epernod Aug 30, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
42 changes: 22 additions & 20 deletions applications/plugins/Geomagic/src/GeomagicDriver.cpp
View file
Open in desktop
Expand Up @@ -277,25 +277,25 @@ void GeomagicDriver::init()

//create a specific node containing rigid position for visual models
sofa::simulation::Node::SPtr rootContext = static_cast<simulation::Node*>(this->getContext()->getRootContext());
nodePrincipal = rootContext->createChild("omniVisu "+d_deviceName.getValue());
nodePrincipal->updateContext();
m_omniVisualNode = rootContext->createChild("omniVisu "+d_deviceName.getValue());
m_omniVisualNode->updateContext();

rigidDOF = sofa::core::objectmodel::New<component::container::MechanicalObject<sofa::defaulttype::Rigid3dTypes> >();
nodePrincipal->addObject(rigidDOF);
m_omniVisualNode->addObject(rigidDOF);
rigidDOF->name.setValue("rigidDOF");

VecCoord& posDOF =*(rigidDOF->x.beginEdit());
posDOF.resize(NVISUALNODE+1);
rigidDOF->x.endEdit();

rigidDOF->init();
nodePrincipal->updateContext();
m_omniVisualNode->updateContext();


//creation of subnodes for each part of the device visualization
for(int i=0; i<NVISUALNODE; i++)
{
visualNode[i].node = nodePrincipal->createChild(visualNodeNames[i]);
visualNode[i].node = m_omniVisualNode->createChild(visualNodeNames[i]);

if(visualNode[i].visu == NULL && visualNode[i].mapping == NULL)
{
Expand All @@ -322,10 +322,10 @@ void GeomagicDriver::init()
visualNode[i].mapping->init();
}
if(i<NVISUALNODE)
nodePrincipal->removeChild(visualNode[i].node);
m_omniVisualNode->removeChild(visualNode[i].node);
}

nodePrincipal->updateContext();
m_omniVisualNode->updateContext();

for(int i=0; i<NVISUALNODE; i++)
{
Expand All @@ -337,7 +337,7 @@ void GeomagicDriver::init()
for(int j=0; j<NVISUALNODE; j++)
{
sofa::defaulttype::ResizableExtVector< sofa::defaulttype::Vec<3,float> > &scaleMapping = *(visualNode[j].mapping->points.beginEdit());
for(unsigned int i=0; i<scaleMapping.size(); i++)
for(size_t i=0; i<scaleMapping.size(); i++)
scaleMapping[i] *= (float)(d_scale.getValue());
visualNode[j].mapping->points.endEdit();
}
Expand Down Expand Up @@ -412,7 +412,8 @@ void GeomagicDriver::reinit()
q_t->normalize();
d_orientationTool.endEdit();

for (int i=0;i<NBJOINT;i++) m_dh_matrices[i] = compute_dh_Matrix(d_dh_theta.getValue()[i],d_dh_alpha.getValue()[i],d_dh_a.getValue()[i],d_dh_d.getValue()[i]);
for (int i=0;i<NBJOINT;i++)
m_dh_matrices[i] = compute_dh_Matrix(d_dh_theta.getValue()[i],d_dh_alpha.getValue()[i],d_dh_a.getValue()[i],d_dh_d.getValue()[i]);
}
}

Expand Down Expand Up @@ -462,7 +463,7 @@ void GeomagicDriver::updatePosition()
d_button_1.endEdit();
d_button_2.endEdit();

if(m_initVisuDone)
if(m_initVisuDone && d_omniVisu.getValue())
{
sofa::defaulttype::SolidTypes<double>::Transform tampon;
m_posDeviceVisu[0] = posDevice;
Expand Down Expand Up @@ -506,11 +507,11 @@ void GeomagicDriver::updatePosition()
tampon*=transform_segr7;
m_posDeviceVisu[1+VN_base] = Coord(tampon.getOrigin(), tampon.getOrientation());

sofa::simulation::Node *node = dynamic_cast<sofa::simulation::Node*> (this->getContext());
if (node)
// update the omni visual node positions through the mappings
if (m_omniVisualNode)
{
sofa::simulation::MechanicalPropagateOnlyPositionAndVelocityVisitor mechaVisitor(sofa::core::MechanicalParams::defaultInstance()); mechaVisitor.execute(node);
sofa::simulation::UpdateMappingVisitor updateVisitor(sofa::core::ExecParams::defaultInstance()); updateVisitor.execute(node);
sofa::simulation::MechanicalPropagateOnlyPositionAndVelocityVisitor mechaVisitor(sofa::core::MechanicalParams::defaultInstance()); mechaVisitor.execute(m_omniVisualNode.get());
sofa::simulation::UpdateMappingVisitor updateVisitor(sofa::core::ExecParams::defaultInstance()); updateVisitor.execute(m_omniVisualNode.get());
}
}
d_posDevice.endEdit();
Expand Down Expand Up @@ -556,9 +557,10 @@ void GeomagicDriver::draw(const sofa::core::visual::VisualParams* vparams)
{
vparams->drawTool()->disableLighting();

vparams->drawTool()->drawArrow(m_posDeviceVisu[0].getCenter(), m_posDeviceVisu[0].getCenter() + m_posDeviceVisu[0].getOrientation().rotate(Vector3(2,0,0)*d_scale.getValue()), d_scale.getValue()*0.1, Vec4f(1,0,0,1) );
vparams->drawTool()->drawArrow(m_posDeviceVisu[0].getCenter(), m_posDeviceVisu[0].getCenter() + m_posDeviceVisu[0].getOrientation().rotate(Vector3(0,2,0)*d_scale.getValue()), d_scale.getValue()*0.1, Vec4f(0,1,0,1) );
vparams->drawTool()->drawArrow(m_posDeviceVisu[0].getCenter(), m_posDeviceVisu[0].getCenter() + m_posDeviceVisu[0].getOrientation().rotate(Vector3(0,0,2)*d_scale.getValue()), d_scale.getValue()*0.1, Vec4f(0,0,1,1) );
float glRadius = (float)d_scale.getValue()*0.1f;
vparams->drawTool()->drawArrow(m_posDeviceVisu[0].getCenter(), m_posDeviceVisu[0].getCenter() + m_posDeviceVisu[0].getOrientation().rotate(Vector3(2,0,0)*d_scale.getValue()), glRadius, Vec4f(1,0,0,1) );
vparams->drawTool()->drawArrow(m_posDeviceVisu[0].getCenter(), m_posDeviceVisu[0].getCenter() + m_posDeviceVisu[0].getOrientation().rotate(Vector3(0,2,0)*d_scale.getValue()), glRadius, Vec4f(0,1,0,1) );
vparams->drawTool()->drawArrow(m_posDeviceVisu[0].getCenter(), m_posDeviceVisu[0].getCenter() + m_posDeviceVisu[0].getOrientation().rotate(Vector3(0,0,2)*d_scale.getValue()), glRadius, Vec4f(0,0,1,1) );
}

if (d_omniVisu.getValue() && m_initVisuDone)
Expand All @@ -570,10 +572,10 @@ void GeomagicDriver::draw(const sofa::core::visual::VisualParams* vparams)

for(int i=0; i<NVISUALNODE; i++)
{
nodePrincipal->addChild(visualNode[i].node);
m_omniVisualNode->addChild(visualNode[i].node);
visualNode[i].node->updateContext();
}
nodePrincipal->updateContext();
m_omniVisualNode->updateContext();
}

VecCoord& posDOF =*(rigidDOF->x.beginEdit());
Expand Down Expand Up @@ -613,7 +615,7 @@ void GeomagicDriver::draw(const sofa::core::visual::VisualParams* vparams)
//delete omnivisual
for(int i=0; i<NVISUALNODE; i++)
{
nodePrincipal->removeChild(visualNode[i].node);
m_omniVisualNode->removeChild(visualNode[i].node);
}
}
}
Expand Down
2 changes: 1 addition & 1 deletion applications/plugins/Geomagic/src/GeomagicDriver.h
View file
Open in desktop
Expand Up @@ -142,7 +142,7 @@ class GeomagicDriver : public Controller
VisualComponent visualNode[NVISUALNODE];
static const char* visualNodeNames[NVISUALNODE];
static const char* visualNodeFiles[NVISUALNODE];
simulation::Node::SPtr nodePrincipal;
simulation::Node::SPtr m_omniVisualNode;
component::container::MechanicalObject<sofa::defaulttype::Rigid3dTypes>::SPtr rigidDOF;

bool m_visuActive; ///< Internal boolean to detect activation switch of the draw
Expand Down