How to use

clear

method

in

us.ihmc.javaFXToolkit.shapes.JavaFXMultiColorMeshBuilder

private void computeScanMesh()
{
 LidarScanMessage message = newMessageToRender.getAndSet(null);
 if (message == null)
   return;
 Point3D32 scanPoint = new Point3D32();
 scanMeshBuilder.clear();
 int numberOfScanPoints = message.getScan().size() / 3;
 for (int i = 0; i < numberOfScanPoints; i++)
 {
   double alpha = i / (double) numberOfScanPoints;
   Color color = Color.hsb(alpha * 240.0, 1.0, 1.0);
   MessageTools.unpackScanPoint(message, i, scanPoint);
   scanMeshBuilder.addMesh(MeshDataGenerator.Tetrahedron(SCAN_POINT_SIZE), scanPoint, color);
 }
 MeshView scanMeshView = new MeshView(scanMeshBuilder.generateMesh());
 scanMeshView.setMaterial(scanMeshBuilder.generateMaterial());
 scanMeshToRender.set(scanMeshView);
 scanMeshBuilder.clear();
}

private void computeScanMesh()
{
 LidarScanMessage message = newMessageToRender.getAndSet(null);
 if (message == null)
   return;
 Point3f scanPoint = new Point3f();
 scanMeshBuilder.clear();
 for (int i = 0; i < message.getNumberOfScanPoints(); i++)
 {
   double alpha = i / (double) message.getNumberOfScanPoints();
   Color color = Color.hsb(alpha * 240.0, 1.0, 1.0);
   message.getScanPoint(i, scanPoint);
   scanMeshBuilder.addMesh(MeshDataGenerator.Tetrahedron(SCAN_POINT_SIZE), scanPoint, color);
 }
 MeshView scanMeshView = new MeshView(scanMeshBuilder.generateMesh());
 scanMeshView.setMaterial(scanMeshBuilder.generateMaterial());
 scanMeshToRender.set(scanMeshView);
 scanMeshBuilder.clear();
}

@Override
public void run()
{
 if (!enable.get())
   return;
 LidarScanMessage message = newMessageToRender.getAndSet(null);
 if (message == null)
   return;
 Point3D32 scanPoint = new Point3D32();
 meshBuilder.clear();
 int numberOfScanPoints = message.getScan().size() / 3;
 for (int i = 0; i < numberOfScanPoints; i++)
 {
   double alpha = i / (double) numberOfScanPoints;
   Color color = Color.hsb(alpha * 240.0, 1.0, 1.0);
   MessageTools.unpackScanPoint(message, i, scanPoint);
   meshBuilder.addMesh(MeshDataGenerator.Tetrahedron(SCAN_POINT_SIZE), scanPoint, color);
 }
 MeshView scanMeshView = new MeshView(meshBuilder.generateMesh());
 scanMeshView.setMaterial(meshBuilder.generateMaterial());
 scanMeshToRender.set(scanMeshView);
 meshBuilder.clear();
}

private UIOcTreeNodeMeshView createSubTreeMeshView(UIOcTreeNode subTreeRoot)
{
 meshBuilder.clear();
 Iterable<UIOcTreeNode> iterable = createLeafIterable(subTreeRoot, treeDepthForDisplay.getValue());
 for (UIOcTreeNode node : iterable)
 {
   if (!node.isPartOfRegion() || !hidePlanarRegionNodes.getValue())
    addNodeMesh(meshBuilder, displayType.getValue(), coloringType.getValue(), node);
 }
 OcTreeKey rootKey = subTreeRoot.getKeyCopy();
 Mesh mesh = meshBuilder.generateMesh();
 Material material = meshBuilder.generateMaterial();
 UIOcTreeNodeMeshView meshView = new UIOcTreeNodeMeshView(rootKey, mesh, material);
 meshBuilder.clear();
 return meshView;
}

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());
}