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Fix missing definition of GridVisual::isDisplayed() (#1280)
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@jslee02
jslee02 authored Apr 22, 2019
1 parent 7faf201 commit 6c4409b
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Showing 3 changed files with 109 additions and 95 deletions.
2 changes: 1 addition & 1 deletion CHANGELOG.md
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Expand Up @@ -40,7 +40,7 @@
* Updated ImGui to 1.69: [#1274](https://github.com/dartsim/dart/pull/1274)
* Added VoxelGridShape support to OSG renderer: [#1276](https://github.com/dartsim/dart/pull/1276)
* Added PointCloudShape and its OSG rendering: [#1277](https://github.com/dartsim/dart/pull/1277)
* Added grid visual to OSG renderer: [#1278](https://github.com/dartsim/dart/pull/1278)
* Added grid visual to OSG renderer: [#1278](https://github.com/dartsim/dart/pull/1278), [#1280](https://github.com/dartsim/dart/pull/1280)

* Build System

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6 changes: 6 additions & 0 deletions dart/gui/osg/GridVisual.cpp
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Expand Up @@ -145,6 +145,12 @@ void GridVisual::display(bool display)
removeChild(mGeode);
}

//==============================================================================
bool GridVisual::isDisplayed() const
{
return mDisplayGrid;
}

//==============================================================================
void GridVisual::setMajorLineColor(const Eigen::Vector4d& color)
{
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196 changes: 102 additions & 94 deletions examples/osgExamples/osgPointCloud/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -276,108 +276,116 @@ class PointCloudWidget : public dart::gui::osg::ImGuiWidget
{
assert(mGrid);
ImGui::Text("Grid");
int e = static_cast<int>(mGrid->getPlaneType());
if (mViewer->isAllowingSimulation())
{
if (ImGui::RadioButton("XY-Plane", &e, 0))
mGrid->setPlaneType(gui::osg::GridVisual::PlaneType::XY);
ImGui::SameLine();
if (ImGui::RadioButton("YZ-Plane", &e, 1))
mGrid->setPlaneType(gui::osg::GridVisual::PlaneType::YZ);
ImGui::SameLine();
if (ImGui::RadioButton("ZX-Plane", &e, 2))
mGrid->setPlaneType(gui::osg::GridVisual::PlaneType::ZX);
}

static Eigen::Vector3f offset;
ImGui::Columns(3);
offset = mGrid->getOffset().cast<float>();
if (ImGui::InputFloat("X", &offset[0], 0.1f, 0.5f, "%.1f"))
mGrid->setOffset(offset.cast<double>());
ImGui::NextColumn();
if (ImGui::InputFloat("Y", &offset[1], 0.1f, 0.5f, "%.1f"))
mGrid->setOffset(offset.cast<double>());
ImGui::NextColumn();
if (ImGui::InputFloat("Z", &offset[2], 0.1f, 0.5f, "%.1f"))
mGrid->setOffset(offset.cast<double>());
ImGui::Columns(1);

static int cellCount;
cellCount = static_cast<int>(mGrid->getNumCells());
if (ImGui::InputInt("Line Count", &cellCount, 1, 5))
{
if (cellCount < 0)
cellCount = 0;
mGrid->setNumCells(static_cast<std::size_t>(cellCount));
}
bool display = mGrid->isDisplayed();
if (ImGui::Checkbox("Show", &display))
mGrid->display(display);

static float cellStepSize;
cellStepSize = static_cast<float>(mGrid->getMinorLineStepSize());
if (ImGui::InputFloat("Line Step Size", &cellStepSize, 0.001f, 0.1f))
if (display)
{
mGrid->setMinorLineStepSize(static_cast<double>(cellStepSize));
}

static int minorLinesPerMajorLine;
minorLinesPerMajorLine
= static_cast<int>(mGrid->getNumMinorLinesPerMajorLine());
if (ImGui::InputInt(
int e = static_cast<int>(mGrid->getPlaneType());
if (mViewer->isAllowingSimulation())
{
if (ImGui::RadioButton("XY-Plane", &e, 0))
mGrid->setPlaneType(gui::osg::GridVisual::PlaneType::XY);
ImGui::SameLine();
if (ImGui::RadioButton("YZ-Plane", &e, 1))
mGrid->setPlaneType(gui::osg::GridVisual::PlaneType::YZ);
ImGui::SameLine();
if (ImGui::RadioButton("ZX-Plane", &e, 2))
mGrid->setPlaneType(gui::osg::GridVisual::PlaneType::ZX);
}

static Eigen::Vector3f offset;
ImGui::Columns(3);
offset = mGrid->getOffset().cast<float>();
if (ImGui::InputFloat("X", &offset[0], 0.1f, 0.5f, "%.1f"))
mGrid->setOffset(offset.cast<double>());
ImGui::NextColumn();
if (ImGui::InputFloat("Y", &offset[1], 0.1f, 0.5f, "%.1f"))
mGrid->setOffset(offset.cast<double>());
ImGui::NextColumn();
if (ImGui::InputFloat("Z", &offset[2], 0.1f, 0.5f, "%.1f"))
mGrid->setOffset(offset.cast<double>());
ImGui::Columns(1);

static int cellCount;
cellCount = static_cast<int>(mGrid->getNumCells());
if (ImGui::InputInt("Line Count", &cellCount, 1, 5))
{
if (cellCount < 0)
cellCount = 0;
mGrid->setNumCells(static_cast<std::size_t>(cellCount));
}

static float cellStepSize;
cellStepSize = static_cast<float>(mGrid->getMinorLineStepSize());
if (ImGui::InputFloat("Line Step Size", &cellStepSize, 0.001f, 0.1f))
{
mGrid->setMinorLineStepSize(static_cast<double>(cellStepSize));
}

static int minorLinesPerMajorLine;
minorLinesPerMajorLine
= static_cast<int>(mGrid->getNumMinorLinesPerMajorLine());
if (ImGui::InputInt(
"Minor Lines per Major Line", &minorLinesPerMajorLine, 1, 5))
{
if (minorLinesPerMajorLine < 0)
minorLinesPerMajorLine = 0;
mGrid->setNumMinorLinesPerMajorLine(
static_cast<std::size_t>(minorLinesPerMajorLine));
}

static float axisLineWidth;
axisLineWidth = mGrid->getAxisLineWidth();
if (ImGui::InputFloat(
{
if (minorLinesPerMajorLine < 0)
minorLinesPerMajorLine = 0;
mGrid->setNumMinorLinesPerMajorLine(
static_cast<std::size_t>(minorLinesPerMajorLine));
}

static float axisLineWidth;
axisLineWidth = mGrid->getAxisLineWidth();
if (ImGui::InputFloat(
"Axis Line Width", &axisLineWidth, 1.f, 2.f, "%.0f"))
{
mGrid->setAxisLineWidth(axisLineWidth);
}
{
mGrid->setAxisLineWidth(axisLineWidth);
}

static float majorLineWidth;
majorLineWidth = mGrid->getMajorLineWidth();
if (ImGui::InputFloat(
static float majorLineWidth;
majorLineWidth = mGrid->getMajorLineWidth();
if (ImGui::InputFloat(
"Major Line Width", &majorLineWidth, 1.f, 2.f, "%.0f"))
{
mGrid->setMajorLineWidth(majorLineWidth);
}

static float majorColor[3];
auto internalmajorColor = mGrid->getMajorLineColor();
majorColor[0] = static_cast<float>(internalmajorColor.x());
majorColor[1] = static_cast<float>(internalmajorColor.y());
majorColor[2] = static_cast<float>(internalmajorColor.z());
if (ImGui::ColorEdit3("Major Line Color", majorColor))
{
internalmajorColor[0] = static_cast<double>(majorColor[0]);
internalmajorColor[1] = static_cast<double>(majorColor[1]);
internalmajorColor[2] = static_cast<double>(majorColor[2]);
mGrid->setMajorLineColor(internalmajorColor);
}

static float minorLineWidth;
minorLineWidth = mGrid->getMinorLineWidth();
if (ImGui::InputFloat(
{
mGrid->setMajorLineWidth(majorLineWidth);
}

static float majorColor[3];
auto internalmajorColor = mGrid->getMajorLineColor();
majorColor[0] = static_cast<float>(internalmajorColor.x());
majorColor[1] = static_cast<float>(internalmajorColor.y());
majorColor[2] = static_cast<float>(internalmajorColor.z());
if (ImGui::ColorEdit3("Major Line Color", majorColor))
{
internalmajorColor[0] = static_cast<double>(majorColor[0]);
internalmajorColor[1] = static_cast<double>(majorColor[1]);
internalmajorColor[2] = static_cast<double>(majorColor[2]);
mGrid->setMajorLineColor(internalmajorColor);
}

static float minorLineWidth;
minorLineWidth = mGrid->getMinorLineWidth();
if (ImGui::InputFloat(
"Minor Line Width", &minorLineWidth, 1.f, 2.f, "%.0f"))
{
mGrid->setMinorLineWidth(minorLineWidth);
}

float minorColor[3];
auto internalMinorColor = mGrid->getMinorLineColor();
minorColor[0] = static_cast<float>(internalMinorColor.x());
minorColor[1] = static_cast<float>(internalMinorColor.y());
minorColor[2] = static_cast<float>(internalMinorColor.z());
if (ImGui::ColorEdit3("Minor Line Color", minorColor))
{
internalMinorColor[0] = static_cast<double>(minorColor[0]);
internalMinorColor[1] = static_cast<double>(minorColor[1]);
internalMinorColor[2] = static_cast<double>(minorColor[2]);
mGrid->setMinorLineColor(internalMinorColor);
{
mGrid->setMinorLineWidth(minorLineWidth);
}

float minorColor[3];
auto internalMinorColor = mGrid->getMinorLineColor();
minorColor[0] = static_cast<float>(internalMinorColor.x());
minorColor[1] = static_cast<float>(internalMinorColor.y());
minorColor[2] = static_cast<float>(internalMinorColor.z());
if (ImGui::ColorEdit3("Minor Line Color", minorColor))
{
internalMinorColor[0] = static_cast<double>(minorColor[0]);
internalMinorColor[1] = static_cast<double>(minorColor[1]);
internalMinorColor[2] = static_cast<double>(minorColor[2]);
mGrid->setMinorLineColor(internalMinorColor);
}
}
}
}
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