How to use

us.ihmc.javaFXToolkit.shapes.JavaFXMultiColorMeshBuilder

constructor

public JavaFXPlanarRegionsViewer()
{
 TextureColorPalette2D colorPalette = new TextureColorPalette2D();
 colorPalette.setHueBrightnessBased(0.9);
 meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette);
 renderer = new AnimationTimer()
 {
   @Override
   public void handle(long now)
   {
    render();
   }
 };
}

public LidarScanLogViewer()
{
 JavaFXCoordinateSystem lidarFrame = new JavaFXCoordinateSystem(0.1);
 lidarFrame.getTransforms().add(lidarPose);
 root.getChildren().addAll(lidarFrame, scans);
 TextureColorPalette1D scanColorPalette = new TextureColorPalette1D();
 scanColorPalette.setHueBased(1.0, 1.0);
 scanMeshBuilder = new JavaFXMultiColorMeshBuilder(scanColorPalette);
}

public LidarScanLogViewer()
{
 JavaFXCoordinateSystem lidarFrame = new JavaFXCoordinateSystem(0.1);
 lidarFrame.getTransforms().add(lidarPose);
 root.getChildren().addAll(lidarFrame, scans);
 TextureColorPalette1D scanColorPalette = new TextureColorPalette1D();
 scanColorPalette.setHueBased(1.0, 1.0);
 scanMeshBuilder = new JavaFXMultiColorMeshBuilder(scanColorPalette);
}

public PlanarRegionsMeshBuilder(REAUIMessager uiMessager)
{
 this.uiMessager = uiMessager;
 enable = uiMessager.createInput(REAModuleAPI.OcTreeEnable, false);
 clear = uiMessager.createInput(REAModuleAPI.PlanarRegionsPolygonizerClear, false);
 clearOcTree = uiMessager.createInput(REAModuleAPI.OcTreeClear, false);
 planarRegionsListMessage = uiMessager.createInput(REAModuleAPI.PlanarRegionsState);
 TextureColorPalette2D colorPalette = new TextureColorPalette2D();
 colorPalette.setHueBrightnessBased(0.9);
 meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette);
}

private Node createConvexPolygonGraphics(PlanarRegion data)
{
 List<ConvexPolygon2D> convexPolygons = new ArrayList<>();
 for (int i = 0; i < data.getNumberOfConvexPolygons(); i++)
   convexPolygons.add(data.getConvexPolygon(i));
 JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(64));
 int regionId = data.getRegionId();
 RigidBodyTransform rigidBodyTransform = new RigidBodyTransform();
 data.getTransformToWorld(rigidBodyTransform);
 Color regionColor = OcTreeMeshBuilder.getRegionColor(regionId);
 for (int i = 0; i < convexPolygons.size(); i++)
 {
   ConvexPolygon2D convexPolygon = convexPolygons.get(i);
   Color color = Color.hsb(regionColor.getHue(), 0.9, 0.5 + 0.5 * ((double) i / (double) convexPolygons.size()));
   meshBuilder.addPolygon(rigidBodyTransform, convexPolygon, color);
 }
 MeshView meshView = new MeshView(meshBuilder.generateMesh());
 meshView.setMaterial(meshBuilder.generateMaterial());
 return meshView;
}

private Node createConcaveHullGraphics(PlanarRegion data)
{
 int regionId = data.getRegionId();
 JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(16));
 RigidBodyTransform transform = new RigidBodyTransform();
 data.getTransformToWorld(transform);
 Point2D[] concaveHullVerticesLocal = data.getConcaveHull();
 Color regionColor = OcTreeMeshBuilder.getRegionColor(regionId);
 List<Point3D> concaveHullVertices = Arrays.stream(concaveHullVerticesLocal).map(Point3D::new).map(p -> {
   transform.transform(p);
   return p;
 }).collect(Collectors.toList());
 for (int vertexIndex = 0; vertexIndex < concaveHullVertices.size(); vertexIndex++)
 {
   Point3D vertex = concaveHullVertices.get(vertexIndex);
   Point3D nextVertex = ListWrappingIndexTools.getNext(vertexIndex, concaveHullVertices);
   Color lineColor = Color.hsb(regionColor.getHue(), regionColor.getSaturation(), regionColor.getBrightness());
   meshBuilder.addLine(vertex, nextVertex, 0.0015, lineColor);
 }
 MeshView meshView = new MeshView(meshBuilder.generateMesh());
 meshView.setMaterial(meshBuilder.generateMaterial());
 meshView.setMouseTransparent(true);
 return meshView;
}

private Node createBorderTrianglesGraphics(PlanarRegionSegmentationRawData rawData,
                     ConcaveHullFactoryResult concaveHullFactoryResult)
{
 JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(512));
 Point3D planeOrigin = rawData.getOrigin();
 Vector3D planeNormal = rawData.getNormal();
 for (ConcaveHullVariables intermediateVariables : concaveHullFactoryResult.getIntermediateVariables())
 {
   Set<QuadEdgeTriangle> borderTriangles = intermediateVariables.getBorderTriangles();
   for (QuadEdgeTriangle borderTriangle : borderTriangles)
   {
    List<Point2D> triangleVerticesLocal = Arrays.stream(borderTriangle.getVertices()).map(v -> new Point2D(v.getX(), v.getY()))
       .collect(Collectors.toList());
    List<Point3D> triangleVerticesWorld = PolygonizerTools.toPointsInWorld(triangleVerticesLocal, planeOrigin, planeNormal);
    double hue = 360.0 * random.nextDouble();
    double saturation = 0.8 * random.nextDouble() + 0.1;
    double brightness = 0.9;
    meshBuilder.addPolyon(triangleVerticesWorld, Color.hsb(hue, saturation, brightness));
   }
 }
 MeshView trianglesMeshView = new MeshView(meshBuilder.generateMesh());
 trianglesMeshView.setMaterial(meshBuilder.generateMaterial());
 return trianglesMeshView;
}

private Node createDelaunayTriangulationGraphics(PlanarRegionSegmentationRawData rawData,
                        ConcaveHullFactoryResult concaveHullFactoryResult)
{
 JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(512));
 Point3D planeOrigin = rawData.getOrigin();
 Vector3D planeNormal = rawData.getNormal();
 List<QuadEdgeTriangle> allTriangles = concaveHullFactoryResult.getAllTriangles();
 for (QuadEdgeTriangle triangle : allTriangles)
 {
   List<Point2D> triangleVerticesLocal = Arrays.stream(triangle.getVertices()).map(v -> new Point2D(v.getX(), v.getY())).collect(Collectors.toList());
   triangleVerticesLocal.forEach(vertex -> {
    vertex.setX(vertex.getX() * scaleX);
    vertex.setY(vertex.getY() * scaleY);
   });
   List<Point3D> triangleVerticesWorld = PolygonizerTools.toPointsInWorld(triangleVerticesLocal, planeOrigin, planeNormal);
   double hue = 360.0 * random.nextDouble();
   double saturation = 0.8 * random.nextDouble() + 0.1;
   double brightness = 0.9;
   meshBuilder.addPolyon(triangleVerticesWorld, Color.hsb(hue, saturation, brightness));
 }
 MeshView trianglesMeshView = new MeshView(meshBuilder.generateMesh());
 trianglesMeshView.setMaterial(meshBuilder.generateMaterial());
 return trianglesMeshView;
}

private Node createConvexDecompositionGraphics(PlanarRegionSegmentationRawData rawData,
                       ConcaveHullFactoryResult concaveHullFactoryResult)
{
 ConcaveHullCollection concaveHullCollection = concaveHullFactoryResult.getConcaveHullCollection();
 double depthThreshold = polygonizerParameters.getDepthThreshold();
 List<ConvexPolygon2D> convexPolygons = new ArrayList<>();
 ConcaveHullDecomposition.recursiveApproximateDecomposition(concaveHullCollection, depthThreshold, convexPolygons);
 JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(64));
 int regionId = rawData.getRegionId();
 RigidBodyTransform rigidBodyTransform = rawData.getTransformFromLocalToWorld();
 Color regionColor = OcTreeMeshBuilder.getRegionColor(regionId);
 for (int i = 0; i < convexPolygons.size(); i++)
 {
   ConvexPolygon2D convexPolygon = convexPolygons.get(i);
   Color color = Color.hsb(regionColor.getHue(), 0.9, 0.5 + 0.5 * ((double) i / (double) convexPolygons.size()));
   meshBuilder.addPolygon(rigidBodyTransform, convexPolygon, color);
 }
 MeshView meshView = new MeshView(meshBuilder.generateMesh());
 meshView.setMaterial(meshBuilder.generateMaterial());
 return meshView;
}

public NodeCheckerRenderer(Messager messager)
{
 nodeCheckerEnabled = messager.createInput(EnableNodeChecking, false);
 planarRegionsReference = messager.createInput(PlanarRegionDataTopic);
 footPositionReference = messager.createInput(NodeCheckingPosition);
 footOrientationReference = messager.createInput(NodeCheckingOrientation, new Quaternion());
 initialSupportSideReference = messager.createInput(InitialSupportSideTopic, RobotSide.LEFT);
 TextureColorPalette2D colorPalette = new TextureColorPalette2D();
 colorPalette.setHueBrightnessBased(0.9);
 meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette);
}

public ArrowGraphic(double radius, double length, Color color)
{
  TextureColorPalette1D colorPalette = new TextureColorPalette1D();
  colorPalette.setHueBased(1.0, 1.0);
  JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette);
  double coneHeight = 0.10 * length;
  double coneRadius = 1.5 * radius;
  meshBuilder.addCylinder(length, radius, new Point3D(), new AxisAngle(0.0, 1.0, 0.0, Math.PI / 2.0), color);
  meshBuilder.addCone(coneHeight, coneRadius, new Point3D(length, 0.0, 0.0), new AxisAngle(0.0, 1.0, 0.0, Math.PI / 2.0), color);
  this.arrow = new MeshView(meshBuilder.generateMesh());
  arrow.setMaterial(meshBuilder.generateMaterial());
  getChildren().add(arrow);
}

private void processOccupancyMapMessage(FootstepPlannerOccupancyMapMessage message)
{
 palette.clearPalette();
 JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(palette);
 Object<FootstepPlannerCellMessage> occupiedCells = message.getOccupiedCells();
 for (int i = 0; i < occupiedCells.size(); i++)
 {
   FootstepPlannerCellMessage cell = occupiedCells.get(i);
   double x = cell.getXIndex() * FootstepNode.gridSizeXY;
   double y = cell.getYIndex() * FootstepNode.gridSizeXY;
   double z = getHeightAtPoint(x, y) + nodeOffsetZ;
   RigidBodyTransform transform = new RigidBodyTransform();
   transform.setTranslation(x, y, z);
   if (cell.getNodeIsValid())
    meshBuilder.addPolygon(transform, cellPolygon, validCellColor);
   else
    meshBuilder.addPolygon(transform, cellPolygon, rejectedCellColor);
 }
 footstepGraphToRender.set(new Pair<>(meshBuilder.generateMesh(), meshBuilder.generateMaterial()));
}

JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorPalette2D());

public OcTreeMeshBuilder(REAUIMessager uiMessager)
{
 this.uiMessager = uiMessager;
 enable = uiMessager.createInput(REAModuleAPI.OcTreeEnable, false);
 clear = uiMessager.createInput(REAModuleAPI.OcTreeClear, false);
 treeDepthForDisplay = uiMessager.createPropertyInput(REAModuleAPI.UIOcTreeDepth, Integer.MAX_VALUE);
 treeDepthForDisplay.addListener(this::setProcessChange);
 coloringType = uiMessager.createPropertyInput(REAModuleAPI.UIOcTreeColoringMode, ColoringType.DEFAULT);
 coloringType.addListener(this::setProcessChange);
 displayType = uiMessager.createPropertyInput(REAModuleAPI.UIOcTreeDisplayType, DisplayType.PLANE);
 displayType.addListener(this::setProcessChange);
 hidePlanarRegionNodes = uiMessager.createPropertyInput(REAModuleAPI.UIPlanarRegionHideNodes, false);
 hidePlanarRegionNodes.addListener(this::setProcessChange);
 ocTreeState = uiMessager.createInput(REAModuleAPI.OcTreeState);
 planarRegionSegmentationState = uiMessager.createInput(REAModuleAPI.PlanarRegionsSegmentationState);
 normalBasedColorPalette1D.setHueBased(0.9, 0.8);
 meshBuilder = new JavaFXMultiColorMeshBuilder(normalBasedColorPalette1D);
}

private Node createIntersectionsGraphics(PlanarRegionSegmentationRawData rawData)
{
 JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(32));
 List<LineSegment2D> intersections2d = rawData.getIntersections();
 Point3D planeOrigin = rawData.getOrigin();
 Vector3D planeNormal = rawData.getNormal();
 List<LineSegment3D> intersections = PolygonizerTools.toLineSegmentsInWorld(intersections2d, planeOrigin, planeNormal);
 for (LineSegment3D intersection : intersections)
 {
   meshBuilder.addLine(intersection.getFirstEndpoint(), intersection.getSecondEndpoint(), 0.0025, Color.RED);
 }
 MeshView meshView = new MeshView(meshBuilder.generateMesh());
 meshView.setMaterial(meshBuilder.generateMaterial());
 meshView.visibleProperty().bind(showIntersections);
 return meshView;
}

@SuppressWarnings("unchecked")
private static Node createPrimaryEdgesGraphics(QuadEdgeSubdivision quadEdgeSubdivision, PlanarRegionSegmentationRawData rawData)
{
 List<QuadEdge> primaryEdges = (List<QuadEdge>) quadEdgeSubdivision.getPrimaryEdges(false);
 int regionId = rawData.getRegionId();
 JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(16));
 Point3D planeOrigin = rawData.getOrigin();
 Quaternion planeOrientation = rawData.getOrientation();
 Color regionColor = OcTreeMeshBuilder.getRegionColor(regionId);
 for (QuadEdge edge : primaryEdges)
 {
   Point3D dest = PolygonizerTools.toPointInWorld(edge.dest().getX(), edge.dest().getY(), planeOrigin, planeOrientation);
   Point3D orig = PolygonizerTools.toPointInWorld(edge.orig().getX(), edge.orig().getY(), planeOrigin, planeOrientation);
   meshBuilder.addLine(dest, orig, 0.0015, regionColor);
 }
 MeshView meshView = new MeshView(meshBuilder.generateMesh());
 meshView.setMaterial(meshBuilder.generateMaterial());
 meshView.setMouseTransparent(true);
 return meshView;
}

@SuppressWarnings("unchecked")
private static Node createEdgesGraphics(QuadEdgeSubdivision quadEdgeSubdivision, PlanarRegionSegmentationRawData rawData)
{
 List<QuadEdge> edges = (List<QuadEdge>) quadEdgeSubdivision.getEdges();
 int regionId = rawData.getRegionId();
 JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(16));
 Point3D planeOrigin = rawData.getOrigin();
 Quaternion planeOrientation = rawData.getOrientation();
 Color regionColor = OcTreeMeshBuilder.getRegionColor(regionId);
 for (QuadEdge edge : edges)
 {
   Point3D dest = PolygonizerTools.toPointInWorld(edge.dest().getX(), edge.dest().getY(), planeOrigin, planeOrientation);
   Point3D orig = PolygonizerTools.toPointInWorld(edge.orig().getX(), edge.orig().getY(), planeOrigin, planeOrientation);
   meshBuilder.addLine(dest, orig, 0.0015, regionColor);
 }
 MeshView meshView = new MeshView(meshBuilder.generateMesh());
 meshView.setMaterial(meshBuilder.generateMaterial());
 meshView.setMouseTransparent(true);
 return meshView;
}

  public JavaFXCoordinateSystem(double length)
  {
   TextureColorPalette1D colorPalette = new TextureColorPalette1D();
   colorPalette.setHueBased(1.0, 1.0);
   JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette);
   double radius = 0.02 * length;
   double coneHeight = 0.10 * length;
   double coneRadius = 0.05 * length;
   meshBuilder.addCylinder(length, radius, new Point3d(), new AxisAngle4d(0.0, 1.0, 0.0, Math.PI / 2.0), Color.RED);
   meshBuilder.addCone(coneHeight, coneRadius, new Point3d(length, 0.0, 0.0), new AxisAngle4d(0.0, 1.0, 0.0, Math.PI / 2.0), Color.RED);
   meshBuilder.addCylinder(length, radius, new Point3d(), new AxisAngle4d(1.0, 0.0, 0.0, -Math.PI / 2.0), Color.GREEN);
   meshBuilder.addCone(coneHeight, coneRadius, new Point3d(0.0, length, 0.0), new AxisAngle4d(1.0, 0.0, 0.0, -Math.PI / 2.0), Color.GREEN);
   meshBuilder.addCylinder(length, radius, new Point3d(), Color.BLUE);
   meshBuilder.addCone(coneHeight, coneRadius, new Point3d(0.0, 0.0, length), Color.BLUE);

   MeshView coordinateSystem = new MeshView(meshBuilder.generateMesh());
   coordinateSystem.setMaterial(meshBuilder.generateMaterial());
   getChildren().addAll(coordinateSystem);
  }
}

  public JavaFXCoordinateSystem(double length)
  {
   TextureColorPalette1D colorPalette = new TextureColorPalette1D();
   colorPalette.setHueBased(1.0, 1.0);
   JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette);
   double radius = 0.02 * length;
   double coneHeight = 0.10 * length;
   double coneRadius = 0.05 * length;
   meshBuilder.addCylinder(length, radius, new Point3D(), new AxisAngle(0.0, 1.0, 0.0, Math.PI / 2.0), Color.RED);
   meshBuilder.addCone(coneHeight, coneRadius, new Point3D(length, 0.0, 0.0), new AxisAngle(0.0, 1.0, 0.0, Math.PI / 2.0), Color.RED);
   meshBuilder.addCylinder(length, radius, new Point3D(), new AxisAngle(1.0, 0.0, 0.0, -Math.PI / 2.0), Color.GREEN);
   meshBuilder.addCone(coneHeight, coneRadius, new Point3D(0.0, length, 0.0), new AxisAngle(1.0, 0.0, 0.0, -Math.PI / 2.0), Color.GREEN);
   meshBuilder.addCylinder(length, radius, new Point3D(), Color.BLUE);
   meshBuilder.addCone(coneHeight, coneRadius, new Point3D(0.0, 0.0, length), Color.BLUE);

   MeshView coordinateSystem = new MeshView(meshBuilder.generateMesh());
   coordinateSystem.setMaterial(meshBuilder.generateMaterial());
   getChildren().addAll(coordinateSystem);
  }
}

private Node createBorderEdgesGraphics(PlanarRegionSegmentationRawData rawData, ConcaveHullFactoryResult concaveHullFactoryResult)
{
 int regionId = rawData.getRegionId();
 JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(new TextureColorAdaptivePalette(16));
 Point3D planeOrigin = rawData.getOrigin();
 Quaternion planeOrientation = rawData.getOrientation();
 Color regionColor = OcTreeMeshBuilder.getRegionColor(regionId);
 for (ConcaveHullVariables intermediateVariables : concaveHullFactoryResult.getIntermediateVariables())
 {
   Set<QuadEdge> borderEdges = intermediateVariables.getBorderEdges();
   for (QuadEdge edge : borderEdges)
   {
    Point3D dest = PolygonizerTools.toPointInWorld(edge.dest().getX(), edge.dest().getY(), planeOrigin, planeOrientation);
    Point3D orig = PolygonizerTools.toPointInWorld(edge.orig().getX(), edge.orig().getY(), planeOrigin, planeOrientation);
    boolean isEdgeTooLong = dest.distance(orig) > parameters.getEdgeLengthThreshold();
    Color lineColor = Color.hsb(regionColor.getHue(), regionColor.getSaturation(), isEdgeTooLong ? 0.25 : regionColor.getBrightness());
    meshBuilder.addLine(dest, orig, 0.0015, lineColor);
   }
 }
 MeshView meshView = new MeshView(meshBuilder.generateMesh());
 meshView.setMaterial(meshBuilder.generateMaterial());
 meshView.setMouseTransparent(true);
 return meshView;
}