Merge pull request #1122 from opensim-org/visualize_wrap_contact

Visualize wrap objects and contact geometry

Author: aymanhab

OpenSim/Simulation/Model/Appearance.h

@@ -60,8 +60,8 @@ class OSIMSIMULATION_API SurfaceProperties : public Object {
     //==========================================================================
     OpenSim_DECLARE_PROPERTY(representation, int,
      "The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.");
-    OpenSim_DECLARE_OPTIONAL_PROPERTY(texture_file, std::string,
-        "Name of file containing texture.");
+    OpenSim_DECLARE_OPTIONAL_PROPERTY(texture, std::string,
+        "Name of texture e.g. metal, bone. This is a hint to the GUI/Visualizer, implementation is Visualization dependent.");
 
     //--------------------------------------------------------------------------
     // CONSTRUCTION
@@ -74,43 +74,11 @@ class OSIMSIMULATION_API SurfaceProperties : public Object {
     virtual ~SurfaceProperties() {};
 
     bool hasTexture() {
-        return !getProperty_texture_file().empty();
+        return !getProperty_texture().empty();
     }
     //========================================================================
 };  // END of class SurfaceProperties
 
-//=============================================================================
-/** CurveProperties class holds the Appearance properties of Geometry
-displayed in the OpenSim visualizer or GUI.The attributes in this
-class are specific to curves or line drawings so that thickness, line-style
-etc. can be maintained. 
-*/
-//=============================================================================
-class OSIMSIMULATION_API CurveProperties : public Object {
-    OpenSim_DECLARE_CONCRETE_OBJECT(CurveProperties, Object);
-public:
-    //=========================================================================
-    // PROPERTIES
-    //=========================================================================
-    OpenSim_DECLARE_PROPERTY(thickness, double,
-        "The thickness of lines used to render a curve or a drawing. ");
-
-    //--------------------------------------------------------------------------
-    // CONSTRUCTION
-    //--------------------------------------------------------------------------
-public:
-    CurveProperties() {
-        constructProperties();
-    }
-    virtual ~CurveProperties() {};
-
-private:
-    void constructProperties() {
-        constructProperty_thickness(1.0);
-    }
-    //=========================================================================
-};  // END of class CurveProperties
-
 //=============================================================================
 //=============================================================================
 /**
@@ -140,8 +108,6 @@ class OSIMSIMULATION_API Appearance : public Object {
 
     OpenSim_DECLARE_UNNAMED_PROPERTY(SurfaceProperties,
         "Visuals applied to surfaces associated with this Appearance.");
-    OpenSim_DECLARE_UNNAMED_PROPERTY(CurveProperties,
-        "Visuals applied to curves or line drawings associated with this Appearance.");
 
 
     //--------------------------------------------------------------------------
@@ -186,8 +152,7 @@ class OSIMSIMULATION_API Appearance : public Object {
         constructProperty_visible(true);
         constructProperty_opacity(1.0);
         // White by default, shows as a shade of gray
-        constructProperty_color(SimTK::Vec3(1.0)); 
-        constructProperty_CurveProperties(CurveProperties());
+        constructProperty_color(SimTK::White); 
         constructProperty_SurfaceProperties(SurfaceProperties());
     }
     //=========================================================================

OpenSim/Simulation/Model/ContactGeometry.cpp

@@ -65,11 +65,11 @@ void ContactGeometry::constructProperties()
 {
     constructProperty_location(Vec3(0));
     constructProperty_orientation(Vec3(0));
-    constructProperty_display_preference(1);
+    Appearance defaultAppearance;
+    defaultAppearance.set_color(SimTK::Cyan);
+    defaultAppearance.set_representation(VisualRepresentation::DrawWireframe);
+    constructProperty_Appearance(defaultAppearance);
 
-    Array<double> defaultColor(1.0, 3); //color default to 0, 1, 1
-    defaultColor[0] = 0.0; 
-    constructProperty_color(defaultColor);
 }
 
 const Vec3& ContactGeometry::getLocation() const
@@ -104,12 +104,6 @@ void ContactGeometry::setFrame(const PhysicalFrame& frame)
     updConnector<PhysicalFrame>("frame").connect(frame);
 }
 
-const int ContactGeometry::getDisplayPreference()
-{ return get_display_preference(); }
-
-void ContactGeometry::setDisplayPreference(const int dispPref)
-{ set_display_preference(dispPref); }
-
 const PhysicalFrame& ContactGeometry::getBody() const
 { return getFrame(); }
 

OpenSim/Simulation/Model/ContactGeometry.h

@@ -26,6 +26,7 @@
 #include <OpenSim/Simulation/osimSimulationDLL.h>
 #include "OpenSim/Simulation/Model/ModelComponent.h"
 #include "OpenSim/Simulation/Model/PhysicalFrame.h"
+#include "Appearance.h"
 
 namespace OpenSim {
 
@@ -54,11 +55,9 @@ OpenSim_DECLARE_ABSTRACT_OBJECT(ContactGeometry, ModelComponent);
         "Orientation of geometry in the PhysicalFrame "
         "(body-fixed XYZ Euler angles).");
 
-    OpenSim_DECLARE_PROPERTY(display_preference, int,
-        "0:Hide 1:Wire 3:Flat 4:Shaded");
-
-    OpenSim_DECLARE_LIST_PROPERTY_SIZE(color, double, 3,
-        "Display Color to apply to the contact geometry.");
+    // Default display properties e.g. Representation, color, texture, etc.
+    OpenSim_DECLARE_UNNAMED_PROPERTY(Appearance,
+        "Default appearance for this Geometry");
 
     OpenSim_DECLARE_CONNECTOR(frame, PhysicalFrame,
         "The frame to which this geometry is attached.");
@@ -95,12 +94,7 @@ OpenSim_DECLARE_ABSTRACT_OBJECT(ContactGeometry, ModelComponent);
     /** Get the PhysicalFrame this geometry is attached to. */
     const PhysicalFrame& getFrame() const;
     /** %Set the PhysicalFrame this geometry is attached to. */
-    void setFrame(const PhysicalFrame& body);
-
-    /** Get the display_preference of this geometry. */
-    const int getDisplayPreference();
-    /** %Set the display_preference of this geometry. */
-    void setDisplayPreference(const int dispPref);
+    void setFrame(const PhysicalFrame& frame);
 
     /** Create a new SimTK::ContactGeometry based on this object. */
     virtual SimTK::ContactGeometry createSimTKContactGeometry() const = 0;
@@ -109,7 +103,7 @@ OpenSim_DECLARE_ABSTRACT_OBJECT(ContactGeometry, ModelComponent);
      * geometry relative to the PhysicalFrame `F` to which this geometry is
      * connected.
      *
-     * If you want the transform of this geometry relative to the Body (or
+     * If you want the transform of this geometry relative to the Frame (or
      * Ground) `B` in which this geometry is fixed, you can use the following
      * code:
      * @code{.cpp}

OpenSim/Simulation/Model/ContactMesh.cpp

@@ -126,4 +126,32 @@ SimTK::ContactGeometry ContactMesh::createSimTKContactGeometry() const
     return *_geometry;
 }
 
+//=============================================================================
+// VISUALIZER GEOMETRY
+//=============================================================================
+void ContactMesh::generateDecorations(bool fixed, const ModelDisplayHints& hints,
+    const SimTK::State& s, SimTK::Array_<SimTK::DecorativeGeometry>& geometry) const
+{
+    Super::generateDecorations(fixed, hints, s, geometry);
+
+    // There is no fixed geometry to generate here.
+    if (fixed) { return; }
+
+    // B: base Frame (Body or Ground)
+    // F: PhysicalFrame that this ContactGeometry is connected to
+    // P: the frame defined (relative to F) by the location and orientation
+    //    properties.
+    if (hints.get_show_contact_geometry()) {
+        const auto& X_BF = getFrame().findTransformInBaseFrame();
+        const auto& X_FP = getTransform();
+        const auto X_BP = X_BF * X_FP;
+        geometry.push_back(SimTK::DecorativeMeshFile(get_filename())
+            .setTransform(X_BP)
+            .setRepresentation(get_Appearance().get_representation())
+            .setBodyId(getFrame().getMobilizedBodyIndex())
+            .setColor(get_Appearance().get_color())
+            .setOpacity(get_Appearance().get_opacity()));
+    }
+}
+
 } // end of namespace OpenSim

OpenSim/Simulation/Model/ContactMesh.h

@@ -93,6 +93,11 @@ OpenSim_DECLARE_CONCRETE_OBJECT(ContactMesh, ContactGeometry);
      * %Set the name of the file to load the mesh from.
      */
     void setFilename(const std::string& filename);
+
+    // VISUALIZATION
+    void generateDecorations(bool fixed, const ModelDisplayHints& hints,
+        const SimTK::State& s,
+        SimTK::Array_<SimTK::DecorativeGeometry>& geometry) const override;
 private:
     // INITIALIZATION
     void setNull();

OpenSim/Simulation/Model/ContactSphere.cpp

@@ -95,10 +95,10 @@ void ContactSphere::generateDecorations(bool fixed, const ModelDisplayHints& hin
     const auto X_BP = X_BF * X_FP;
     geometry.push_back(SimTK::DecorativeSphere(getRadius())
                            .setTransform(X_BP)
-                           .setRepresentation(SimTK::DecorativeGeometry::DrawWireframe)
+                           .setRepresentation(get_Appearance().get_representation())
                            .setBodyId(getFrame().getMobilizedBodyIndex())
-                           .setColor(SimTK::Vec3(0,1,0))
-                           .setOpacity(0.5));
+                           .setColor(get_Appearance().get_color())
+                           .setOpacity(get_Appearance().get_opacity()));
 }
 
 } // end of namespace OpenSim

OpenSim/Simulation/Model/ContactSphere.h

@@ -87,16 +87,16 @@ OpenSim_DECLARE_CONCRETE_OBJECT(ContactSphere, ContactGeometry);
      * %Set the radius of the sphere.
      */
     void setRadius(double radius);
+
+    // VISUALIZATION
+    void generateDecorations(bool fixed, const ModelDisplayHints& hints,
+        const SimTK::State& s,
+        SimTK::Array_<SimTK::DecorativeGeometry>& geometry) const override;
 private:
     // INITIALIZATION
     void setNull();
     void constructProperties();
 
-    // VISUALIZATION
-    void generateDecorations(bool fixed, const ModelDisplayHints& hints, 
-        const SimTK::State& s, 
-        SimTK::Array_<SimTK::DecorativeGeometry>& geometry) const override;
-
 //=============================================================================
 };  // END of class ContactSphere
 //=============================================================================

OpenSim/Simulation/Model/Geometry.cpp

@@ -83,6 +83,8 @@ void Geometry::generateDecorations(bool fixed,
     if (!fixed && !getInput("transform").isConnected())
         return; 
 
+    if (!get_Appearance().get_visible()) return;
+
     SimTK::Array_<SimTK::DecorativeGeometry> decos;
     implementCreateDecorativeGeometry(decos);
     if (decos.size() == 0) return;

OpenSim/Simulation/RegisterTypes_osimSimulation.cpp

@@ -164,7 +164,6 @@ OSIMSIMULATION_API void RegisterTypes_osimSimulation()
     Object::registerType( ConditionalPathPoint() );
     Object::registerType( MovingPathPoint() );
     Object::registerType( SurfaceProperties());
-    Object::registerType( CurveProperties());
     Object::registerType( Appearance());
     Object::registerType( ModelVisualPreferences());
 

OpenSim/Simulation/Wrap/WrapObject.cpp

@@ -62,12 +62,10 @@ void WrapObject::constructProperties()
     constructProperty_translation(defaultTranslations);
 
     constructProperty_quadrant("Unassigned");
-
-    constructProperty_display_preference(1);
-    Array<double> defaultColor(1.0, 3); //color default to 0, 1, 1
-    defaultColor[0] = 0.0; 
-
-    constructProperty_color(defaultColor);
+    Appearance defaultAppearance;
+    defaultAppearance.set_color(SimTK::Cyan);
+    defaultAppearance.set_representation(VisualRepresentation::DrawWireframe);
+    constructProperty_Appearance(defaultAppearance);
 }
 
 const PhysicalFrame& WrapObject::getFrame() const

OpenSim/Simulation/Wrap/WrapObject.h

@@ -25,7 +25,7 @@
 
 // INCLUDE
 #include <OpenSim/Simulation/Model/ModelComponent.h>
-
+#include <OpenSim/Simulation/Model/Appearance.h>
 namespace OpenSim {
 
 class PathPoint;
@@ -58,11 +58,9 @@ OpenSim_DECLARE_ABSTRACT_OBJECT(WrapObject, Component);
     OpenSim_DECLARE_PROPERTY(translation, SimTK::Vec3,
         "Translation of the WrapObject.");
 
-    OpenSim_DECLARE_PROPERTY(display_preference, int,
-        "Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded");
-
-    OpenSim_DECLARE_LIST_PROPERTY_SIZE(color, double, 3,
-        "Display Color as RGB with each being any value on [0, 1]");
+    // Default display properties e.g. Representation, color, texture, etc.
+    OpenSim_DECLARE_UNNAMED_PROPERTY(Appearance,
+        "Default appearance for this Geometry");
 
     OpenSim_DECLARE_PROPERTY(quadrant, std::string,
         "The name of quadrant over which the wrap object is active. "