How to use

addMultiLine

method

in

us.ihmc.javaFXToolkit.shapes.JavaFXMultiColorMeshBuilder

/**
* Add a series of connected 2D lines to this builder.
* @param transformToWorld the transform from the mult-line local coordinates to world. Not modified.
* @param points coordinates of the line end points. Not modified.
* @param lineWidth width of the lines.
* @param color color of the multi-line. Color accuracy depends on the color palette in use.
* @param close whether the end of the given array of points should be connected to the beginning or not.
*/
public void addMultiLine(RigidBodyTransform transformToWorld, Point2d[] points, double lineWidth, Color color, boolean close)
{
 addMultiLine(transformToWorld, Arrays.asList(points), lineWidth, color, close);
}

/**
* Add a series of connected 2D lines to this builder.
* @param transformToWorld the transform from the mult-line local coordinates to world. Not modified.
* @param points coordinates of the line end points. Not modified.
* @param lineWidth width of the lines.
* @param color color of the multi-line. Color accuracy depends on the color palette in use.
* @param close whether the end of the given array of points should be connected to the beginning or not.
*/
public void addMultiLine(RigidBodyTransform transformToWorld, Point2D[] points, double lineWidth, Color color, boolean close)
{
 addMultiLine(transformToWorld, Arrays.asList(points), lineWidth, color, close);
}

private void addMultiLine(JavaFXMultiColorMeshBuilder meshBuilder)
{
 List<Point3d> points = new ArrayList<>();
 double radius = 0.4;
 Random random = new Random();
 for (double angle = 0.0; angle < 2.0 * Math.PI; angle += 2.0 * Math.PI / 50.0)
 {
   double x = radius * random.nextDouble() * Math.cos(angle);
   double y = radius * Math.sin(angle);
   double z = 0.1 * random.nextDouble();
   points.add(new Point3d(x, y, z));
 }
 meshBuilder.addMultiLine(points, 0.01, Color.YELLOWGREEN, true);
}

private synchronized void processFootstepPath(FootstepPlan plan)
{
 meshBuilder.clear();
 SideDependentList<Color> colors = solutionWasReceived.get() ? solutionFootstepColors : intermediateFootstepColors;
 FramePose3D footPose = new FramePose3D();
 RigidBodyTransform transformToWorld = new RigidBodyTransform();
 ConvexPolygon2D foothold = new ConvexPolygon2D();
 for (int i = 0; i < plan.getNumberOfSteps(); i++)
 {
   SimpleFootstep footstep = plan.getFootstep(i);
   Color regionColor = colors.get(footstep.getRobotSide());
   footstep.getSoleFramePose(footPose);
   footPose.get(transformToWorld);
   transformToWorld.appendTranslation(0.0, 0.0, 0.01);
   if (footstep.hasFoothold())
    footstep.getFoothold(foothold);
   else
    foothold.set(defaultFootPolygon);
   Point2D[] vertices = new Point2D[foothold.getNumberOfVertices()];
   for (int j = 0; j < vertices.length; j++)
   {
    vertices[j] = new Point2D(foothold.getVertex(j));
   }
   meshBuilder.addMultiLine(transformToWorld, vertices, 0.01, regionColor, true);
   meshBuilder.addPolygon(transformToWorld, foothold, regionColor);
 }
 meshReference.set(new Pair<>(meshBuilder.generateMesh(), meshBuilder.generateMaterial()));
}

private Pair<Mesh, Material> generateMeshAndMaterial(PlanarRegionsListMessage newMessage)
{
 meshBuilder.clear();
 double lineWidth = 0.01;
 RigidBodyTransform transformToWorld = new RigidBodyTransform();
 PlanarRegionsList planarRegionsList = PlanarRegionMessageConverter.convertToPlanarRegionsList(newMessage);
 for (int regionIndex = 0; regionIndex < planarRegionsList.getNumberOfPlanarRegions(); regionIndex++)
 {
   PlanarRegion planarRegion = planarRegionsList.getPlanarRegion(regionIndex);
   int regionId = planarRegion.getRegionId();
   Color regionColor = getRegionColor(regionId);
   planarRegion.getTransformToWorld(transformToWorld);
   meshBuilder.addMultiLine(transformToWorld, planarRegion.getConcaveHull(), lineWidth, regionColor, true);
   for (int polygonIndex = 0; polygonIndex < planarRegion.getNumberOfConvexPolygons(); polygonIndex++)
   {
    ConvexPolygon2D convexPolygon2d = planarRegion.getConvexPolygon(polygonIndex);
    regionColor = Color.hsb(regionColor.getHue(), 0.9, 0.5 + 0.5 * ((double) polygonIndex / (double) planarRegion.getNumberOfConvexPolygons()));
    meshBuilder.addPolygon(transformToWorld, convexPolygon2d, regionColor);
   }
 }
 Material material = meshBuilder.generateMaterial();
 Mesh mesh = meshBuilder.generateMesh();
 return new Pair<>(mesh, material);
}

private Pair<Mesh, Material> generateMeshAndMaterial(PlanarRegionsListMessage newMessage)
{
 meshBuilder.clear();
 double lineWidth = 0.01;
 RigidBodyTransform transformToWorld = new RigidBodyTransform();
 PlanarRegionsList planarRegionsList = PlanarRegionMessageConverter.convertToPlanarRegionsList(newMessage);
 for (int regionIndex = 0; regionIndex < planarRegionsList.getNumberOfPlanarRegions(); regionIndex++)
 {
   PlanarRegion planarRegion = planarRegionsList.getPlanarRegion(regionIndex);
   int regionId = planarRegion.getRegionId();
   Color regionColor = getRegionColor(regionId);
   planarRegion.getTransformToWorld(transformToWorld);
   meshBuilder.addMultiLine(transformToWorld, planarRegion.getConcaveHull(), lineWidth, regionColor, true);
   for (int polygonIndex = 0; polygonIndex < planarRegion.getNumberOfConvexPolygons(); polygonIndex++)
   {
    ConvexPolygon2D convexPolygon2d = planarRegion.getConvexPolygon(polygonIndex);
    regionColor = Color.hsb(regionColor.getHue(), 0.9, 0.5 + 0.5 * ((double) polygonIndex / (double) planarRegion.getNumberOfConvexPolygons()));
    meshBuilder.addPolygon(transformToWorld, convexPolygon2d, regionColor);
   }
 }
 Material material = meshBuilder.generateMaterial();
 Mesh mesh = meshBuilder.generateMesh();
 return new Pair<>(mesh, material);
}

private void processFootMesh(FootstepNode node, FootstepNodeSnapData snapData, boolean valid)
{
 meshBuilder.clear();
 RigidBodyTransform planarTransformToWorld = new RigidBodyTransform();
 FootstepNodeTools.getNodeTransform(node, planarTransformToWorld);
 RigidBodyTransform snappedTransformToWorld = new RigidBodyTransform();
 ConvexPolygon2D foothold = snapData.getCroppedFoothold();
 FootstepNodeTools.getSnappedNodeTransform(node, snapData.getSnapTransform(), snappedTransformToWorld);
 snappedTransformToWorld.appendTranslation(0.0, 0.0, 0.01);
 planarTransformToWorld.setTranslationZ(snappedTransformToWorld.getTranslationZ() + 0.1);
 Color regionColor = valid ? Color.GREEN : Color.RED;
 regionColor = Color.hsb(regionColor.getHue(), 0.9, 1.0);
 Point2D[] vertices = new Point2D[foothold.getNumberOfVertices()];
 for (int j = 0; j < vertices.length; j++)
 {
   vertices[j] = new Point2D(foothold.getVertex(j));
 }
 meshBuilder.addMultiLine(snappedTransformToWorld, vertices, 0.01, regionColor, true);
 meshBuilder.addPolygon(snappedTransformToWorld, foothold, regionColor);
 // TODO add mesh of planar footstep
 meshView.setOpacity(0.9);
 meshView.setMesh(meshBuilder.generateMesh());
 meshView.setMaterial(meshBuilder.generateMaterial());
}