public override void Draw(Drawing3d drawing, JointTrajectoryMsg message, MessageMetadata meta)
{
#if URDF_IMPORTER
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
m_RobotData.DrawJointPaths(drawing, message, SelectColor(m_Color, meta), m_PathThickness);
#endif
}
public override void Draw(Drawing3d drawing, MultiDOFJointStateMsg message, MessageMetadata meta)
{
#if URDF_IMPORTER
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
m_RobotData.DrawGhost(drawing, message, SelectColor(m_Color, meta));
#endif
}
public override void Draw(Drawing3d drawing, JointStateMsg message, MessageMetadata meta)
{
#if URDF_IMPORTER
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
var color = SelectColor(m_Color, meta);
m_RobotData.DrawGhost(drawing, message, color);
if (m_ShowEffort)
{
m_RobotData.DrawEffort(drawing, message, color);
}
#endif
}
public void Redraw()
{
if (m_Mesh == null)
{
m_Mesh = new Mesh();
m_Mesh.vertices = new[]
{ Vector3.zero, new Vector3(0, 0, 1), new Vector3(1, 0, 1), new Vector3(1, 0, 0) };
m_Mesh.uv = new[] { Vector2.zero, Vector2.up, Vector2.one, Vector2.right };
m_Mesh.triangles = new[] { 0, 1, 2, 2, 3, 0 };
}
if (m_Material == null)
{
m_Material = (m_Settings.m_Material != null) ? new Material(m_Settings.m_Material) : new Material(Shader.Find("Unlit/OccupancyGrid"));
}
m_Material.mainTexture = GetTexture();
m_Material.SetColor(k_Color0, m_Settings.m_Unoccupied);
m_Material.SetColor(k_Color100, m_Settings.m_Occupied);
m_Material.SetColor(k_ColorUnknown, m_Settings.m_Unknown);
var origin = m_Message.info.origin.position.From <FLU>();
var rotation = m_Message.info.origin.orientation.From <FLU>();
rotation.eulerAngles += new Vector3(0, -90, 0); // TODO: Account for differing texture origin
var scale = m_Message.info.resolution;
if (m_Drawing == null)
{
m_Drawing = Drawing3dManager.CreateDrawing();
}
else
{
m_Drawing.Clear();
}
m_Drawing.SetTFTrackingSettings(m_Settings.m_TFTrackingSettings, m_Message.header);
// offset the mesh by half a grid square, because the message's position defines the CENTER of grid square 0,0
Vector3 drawOrigin = origin - rotation * new Vector3(scale * 0.5f, 0, scale * 0.5f) + m_Settings.m_Offset;
m_Drawing.DrawMesh(m_Mesh, drawOrigin, rotation,
new Vector3(m_Message.info.width * scale, 1, m_Message.info.height * scale), m_Material);
}
public override void Draw(Drawing3d drawing, GridCellsMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
Draw <FLU>(message, drawing, SelectColor(m_Color, meta), m_Radius);
}
public override void Draw(Drawing3d drawing, AccelWithCovarianceStampedMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
AccelWithCovarianceDefaultVisualizer.Draw <FLU>(message.accel, drawing, SelectColor(m_Color, meta), m_Origin, m_LengthScale, m_SphereRadius, m_Thickness);
}
public override void Draw(Drawing3d drawing, ImuMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
Draw <FLU>(message, drawing, SelectColor(m_Color, meta), m_LengthScale, m_SphereRadius, m_Thickness);
}
public override void Draw(Drawing3d drawing, PoseStampedMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
PoseDefaultVisualizer.Draw <FLU>(message.pose, drawing, m_Size, m_DrawUnityAxes);
}
public override void Draw(Drawing3d drawing, PoseArrayMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
Draw <FLU>(message, drawing, m_Size, m_DrawUnityAxes);
}
public override void Draw(Drawing3d drawing, PathMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
Draw <FLU>(message, drawing, SelectColor(m_Color, meta), m_Thickness, m_Offset);
}
public override void Draw(Drawing3d drawing, InertiaStampedMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingType, message.header);
Vector3DefaultVisualizer.Draw <FLU>(message.inertia.com, drawing, m_Origin, SelectColor(m_Color, meta), SelectLabel(m_Label, meta), m_Radius);
}
public override void Draw(Drawing3d drawing, MagneticFieldMsg message, MessageMetadata meta)
{
drawing.SetTFTrackingSettings(m_TFTrackingSettings, message.header);
Draw <FLU>(message, drawing, SelectColor(m_Color, meta));
}