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[Core] Apply template method design pattern to CollisionModel::draw #160

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Merged
hugtalbot merged 1 commit into from
May 28, 2025
Merged

[Core] Apply template method design pattern to CollisionModel::draw #160

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2 changes: 1 addition & 1 deletion src/ModelOrderReduction/component/contact/MORpointModel.h
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ class MORPointCollisionModel : public PointCollisionModel<TDataTypes>

// -- CollisionModel interface

void draw(const core::visual::VisualParams* vparams) override;
void drawCollisionModel(const core::visual::VisualParams* vparams) override;

Data<bool> displayContactModes;
Data<std::string> d_lambdaModesPath;
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94 changes: 44 additions & 50 deletions src/ModelOrderReduction/component/contact/MORpointModel.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -74,75 +74,69 @@ void MORPointCollisionModel<DataTypes>::init()


template<class DataTypes>
void MORPointCollisionModel<DataTypes>::draw(const core::visual::VisualParams* vparams)
void MORPointCollisionModel<DataTypes>::drawCollisionModel(const core::visual::VisualParams* vparams)
{
if (vparams->displayFlags().getShowCollisionModels())
if (vparams->displayFlags().getShowWireFrame())
vparams->drawTool()->setPolygonMode(0, true);

// Check topological modifications
if (mstate->getSize() != size)
return;

std::vector< type::Vec3 > pointsP;
std::vector< type::Vec3 > pointsL;
int numMode;
double val;
double step = this->getContext()->getTime()/this->getContext()->getDt();
numMode = (int) step - 1;
for (int i = 0; i < size; i++)
{
if (vparams->displayFlags().getShowWireFrame())
vparams->drawTool()->setPolygonMode(0, true);

// Check topological modifications
if (mstate->getSize() != size)
return;

std::vector< type::Vec3 > pointsP;
std::vector< type::Vec3 > pointsL;
int numMode;
double val;
double step = this->getContext()->getTime()/this->getContext()->getDt();
numMode = (int) step - 1;
for (int i = 0; i < size; i++)
TPoint<DataTypes> p(this, i);
if (p.isActive())
{
TPoint<DataTypes> p(this, i);
if (p.isActive())
{
pointsP.push_back(p.p());
if (displayContactModes.getValue() && numMode >= 0 && numMode < lambdaModes.cols()){
if (contactIndices(i) != -1)
val = lambdaModes(contactIndices(i),numMode);
else
val = 0;
if (val != 0){
}
pointsP.push_back(p.p());
if (displayContactModes.getValue() && numMode >= 0 && numMode < lambdaModes.cols()){
if (contactIndices(i) != -1)
val = lambdaModes(contactIndices(i),numMode);
else
val = 0;
if (val != 0){
}
// pointsL.push_back(p.p());
// pointsL.push_back(p.p() + normals[i] * 1000.1f*val);
// vparams->drawTool()->drawArrow(p.p(), p.p() + normals[i] * 20.1f*val, 0.06, 0.4, 0.3, {0.25f, 0.75f, 0.75f, 1});
vparams->drawTool()->drawArrow(p.p(), p.p() + normals[i] * 60.1f*val, 0.4, 2.0, 1.8, type::RGBAColor(0.25f, 0.75f, 0.75f, 1));
}
if ((unsigned)i < normals.size())
{
vparams->drawTool()->drawArrow(p.p(), p.p() + normals[i] * 60.1f*val, 0.4, 2.0, 1.8, type::RGBAColor(0.25f, 0.75f, 0.75f, 1));
}
if ((unsigned)i < normals.size())
{
// pointsL.push_back(p.p());
// pointsL.push_back(p.p() + normals[i] * 1.1f);
}
}
}
}

const auto* color = this->getColor4f();
vparams->drawTool()->drawPoints(pointsP, 3, type::RGBAColor(color[0], color[1], color[2], color[3]));
vparams->drawTool()->drawLines(pointsL, 3, type::RGBAColor(color[0], color[1], color[2], color[3]));
const auto* color = this->getColor4f();
vparams->drawTool()->drawPoints(pointsP, 3, type::RGBAColor(color[0], color[1], color[2], color[3]));
vparams->drawTool()->drawLines(pointsL, 3, type::RGBAColor(color[0], color[1], color[2], color[3]));

if (this->d_displayFreePosition.getValue())
{
std::vector< type::Vec3 > pointsPFree;
if (this->d_displayFreePosition.getValue())
{
std::vector< type::Vec3 > pointsPFree;

for (int i = 0; i < size; i++)
for (int i = 0; i < size; i++)
{
TPoint<DataTypes> p(this, i);
if (p.isActive())
{
TPoint<DataTypes> p(this, i);
if (p.isActive())
{
pointsPFree.push_back(p.pFree());
}
pointsPFree.push_back(p.pFree());
}

vparams->drawTool()->drawPoints(pointsPFree, 3, type::RGBAColor(0.0f, 1.0f, 0.2f, 1.0f));
}

if (vparams->displayFlags().getShowWireFrame())
vparams->drawTool()->setPolygonMode(0, false);
vparams->drawTool()->drawPoints(pointsPFree, 3, type::RGBAColor(0.0f, 1.0f, 0.2f, 1.0f));
}

if (this->getPrevious() != nullptr && vparams->displayFlags().getShowBoundingCollisionModels())
this->getPrevious()->draw(vparams);
if (vparams->displayFlags().getShowWireFrame())
vparams->drawTool()->setPolygonMode(0, false);
}
} // namespace sofa::component::collision::geometry

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