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)); }