How to use

generateMaterial

method

in

us.ihmc.javaFXToolkit.shapes.JavaFXMultiColorMeshBuilder

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 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 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;
}

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;
}

@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 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();
}

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()));
}

meshView.setMaterial(meshBuilder.generateMaterial());
view3dFactory.addNodeToView(meshView);

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 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;
}

  @Override
  public void start(Stage primaryStage) throws Exception
  {
   View3DFactory view3dFactory = new View3DFactory(800, 600);
   view3dFactory.addCameraController();
   view3dFactory.addWorldCoordinateSystem(0.3);


   MeshView meshView = new MeshView();
   meshView.setMesh(colorMeshBuilder.generateMesh());
   meshView.setMaterial(colorMeshBuilder.generateMaterial());
   view3dFactory.addNodeToView(meshView);

   PhongMaterial material = new PhongMaterial(Color.DARKCYAN);
//      normalCylinder.setMaterial(material);
//      rootNode.getChildren().add(normalCylinder);
   material = new PhongMaterial();
   material.setDiffuseColor(new Color(1.0, 1.0, 0.0, 0.0));
   box.setMaterial(material);
   view3dFactory.addNodeToView(box);

   primaryStage.setScene(view3dFactory.getScene());
   primaryStage.show();
  }

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);
}

@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;
}

  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);
  }
}

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());
}

  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);
  }
}

@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;
}

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;
}