Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

joint trajectory curves use different colors for each DOF

Browse Source 
use fewer notch counts in slider GUI
This commit is contained in:
Erwin Coumans
2015-11-26 10:45:51 -08:00
parent 346308120a
commit 4c88681479
2 changed files with 18 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
examples/InverseDynamics/InverseDynamicsExample.cpp
View File

@@ -48,6 +48,20 @@ static std::vector<btScalar> qd;
static std::vector<std::string> qd_name;
static std::vector<std::string> q_name;
static btVector4 sJointCurveColors[8] =
{
btVector4(1,0.3,0.3,1),
btVector4(0.3,1,0.3,1),
btVector4(0.3,0.3,1,1),
btVector4(0.3,1,1,1),
btVector4(1,0.3,1,1),
btVector4(1,1,0.3,1),
btVector4(1,0.7,0.7,1),
btVector4(0.7,1,1,1),
};
void toggleUseInverseModel(int buttonId, bool buttonState, void* userPointer){
useInverseModel=!useInverseModel;
// todo(thomas) is there a way to get a toggle button with changing text?
@@ -175,7 +189,7 @@ void InverseDynamicsExample::initPhysics()
if(m_multiBody) {
{
m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,512,230, "q time series");
m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,512,230, "Joint Space Trajectory");
m_timeSeriesCanvas ->setupTimeSeries(3,100, 0);
}
@@ -202,7 +216,8 @@ void InverseDynamicsExample::initPhysics()
sprintf(tmp,"q[%zu]",dof);
q_name[dof] = tmp;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
m_timeSeriesCanvas->addDataSource(q_name[dof].c_str(), 255,0,0);
btVector4 color = sJointCurveColors[dof&7];
m_timeSeriesCanvas->addDataSource(q_name[dof].c_str(), color[0]*255,color[1]*255,color[2]*255);
}