Merge pull request #123 from resibots/background_color

costashatz · web-flow · commit b0977f6a2a46 · 2020-12-11T09:48:39.000+02:00
Add the possibility to change the background color
diff --git a/src/examples/talos.cpp b/src/examples/talos.cpp
@@ -32,7 +32,11 @@ int main()
     robot_dart::RobotDARTSimu simu(dt);
     simu.set_collision_detector("fcl");
 #ifdef GRAPHIC
-    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();
+    robot_dart::gui::magnum::GraphicsConfiguration configuration;
+    configuration.width = 1280;
+    configuration.height = 960;
+    configuration.bg_color = Eigen::Vector4d{1.0, 1.0, 1.0, 1.0};
+    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>(configuration);
     simu.set_graphics(graphics);
     graphics->look_at({0., 3.5, 2.}, {0., 0., 0.25});
     graphics->record_video("talos_dancing.mp4");
diff --git a/src/python/ci.py b/src/python/ci.py
@@ -38,7 +38,7 @@ def clone(self):
 
 # Add robot and floor to the simulation
 simu.add_robot(robot)
-simu.add_checkerboard_floor(10., 0.1, 1., np.zeros((6,1)), "floor")
+simu.add_checkerboard_floor()
 
 simu.run(5.)
 
diff --git a/src/python/example.py b/src/python/example.py
@@ -58,7 +58,7 @@ def __call__(self):
 
 # Add robot and floor to the simulation
 simu.add_robot(robot)
-simu.add_checkerboard_floor(10., 0.1, 1., np.zeros((6,1)), "floor")
+simu.add_checkerboard_floor()
 
 # Add a camera sensor to the end-effector of the manipulator
 camera = rd.sensor.Camera(graphics.magnum_app(), 256, 256)
diff --git a/src/python/gui.cpp b/src/python/gui.cpp
@@ -86,7 +86,7 @@ namespace robot_dart {
                 .def_readwrite("data", &gui::GrayscaleImage::data);
 
             py::class_<GraphicsConfiguration>(sm, "GraphicsConfiguration")
-                .def(py::init<size_t, size_t, const std::string&, bool, bool, size_t, size_t, double, bool, bool>(),
+                .def(py::init<size_t, size_t, const std::string&, bool, bool, size_t, size_t, double, bool, bool, const Eigen::Vector4d&>(),
                     py::arg("width") = 640,
                     py::arg("height") = 480,
                     py::arg("title") = "DART",
@@ -96,7 +96,8 @@ namespace robot_dart {
                     py::arg("max_lights") = 3,
                     py::arg("specular_strength") = 0.25,
                     py::arg("draw_main_camera") = true,
-                    py::arg("draw_debug") = true)
+                    py::arg("draw_debug") = true,
+                    py::arg("bg_color") = Eigen::Vector4d(0.0, 0.0, 0.0, 1.0))
 
                 .def_readwrite("width", &GraphicsConfiguration::width)
                 .def_readwrite("height", &GraphicsConfiguration::height)
@@ -107,7 +108,12 @@ namespace robot_dart {
                 .def_readwrite("shadow_map_size", &GraphicsConfiguration::shadow_map_size)
 
                 .def_readwrite("max_lights", &GraphicsConfiguration::max_lights)
-                .def_readwrite("specular_strength", &GraphicsConfiguration::specular_strength);
+                .def_readwrite("specular_strength", &GraphicsConfiguration::specular_strength)
+
+                .def_readwrite("draw_main_camera", &GraphicsConfiguration::draw_main_camera)
+                .def_readwrite("draw_debug", &GraphicsConfiguration::draw_debug)
+
+                .def_readwrite("bg_color", &GraphicsConfiguration::bg_color);
 
             py::class_<gui::Base, std::shared_ptr<gui::Base>>(sm, "Base");
             py::class_<BaseWindowedGraphics, gui::Base, std::shared_ptr<BaseWindowedGraphics>>(sm, "BaseWindowedGraphics");
diff --git a/src/python/simu.cpp b/src/python/simu.cpp
@@ -170,6 +170,8 @@ namespace robot_dart {
                     py::arg("floor_width") = 10.,
                     py::arg("floor_height") = 0.1,
                     py::arg("size") = 1.,
+                    py::arg("first_color") = dart::Color::White(1.),
+                    py::arg("second_color") = dart::Color::Gray(1.),
                     py::arg("pose") = Eigen::Vector6d::Zero(),
                     py::arg("floor_name") = "checkerboard_floor")
 
diff --git a/src/robot_dart/gui/magnum/base_application.hpp b/src/robot_dart/gui/magnum/base_application.hpp
@@ -107,6 +107,9 @@ namespace robot_dart {
                 // These options are only for the main camera
                 bool draw_main_camera = true;
                 bool draw_debug = true;
+
+                // Background (default = black)
+                Eigen::Vector4d bg_color{0.0, 0.0, 0.0, 1.0};
             };
 
             struct DebugDrawData {
diff --git a/src/robot_dart/gui/magnum/glfw_application.cpp b/src/robot_dart/gui/magnum/glfw_application.cpp
@@ -17,7 +17,11 @@ namespace robot_dart {
                   _speed_move(0.f),
                   _speed_strafe(0.f),
                   _draw_main_camera(configuration.draw_main_camera),
-                  _draw_debug(configuration.draw_debug)
+                  _draw_debug(configuration.draw_debug),
+                  _bg_color(configuration.bg_color[0],
+                      configuration.bg_color[1],
+                      configuration.bg_color[2],
+                      configuration.bg_color[3])
             {
                 /* Try 16x MSAA */
                 Configuration conf;
@@ -73,8 +77,8 @@ namespace robot_dart {
                     Magnum::GL::Renderer::setBlendFunction(Magnum::GL::Renderer::BlendFunction::SourceAlpha, Magnum::GL::Renderer::BlendFunction::OneMinusSourceAlpha);
                     Magnum::GL::Renderer::setBlendEquation(Magnum::GL::Renderer::BlendEquation::Add);
 
-                    /* Change default clear color to black */
-                    Magnum::GL::Renderer::setClearColor(Magnum::Vector4{0.f, 0.f, 0.f, 1.f});
+                    /* Change clear color to _bg_color */
+                    Magnum::GL::Renderer::setClearColor(_bg_color);
 
                     Magnum::GL::defaultFramebuffer.bind();
                     Magnum::GL::defaultFramebuffer.clear(
diff --git a/src/robot_dart/gui/magnum/glfw_application.hpp b/src/robot_dart/gui/magnum/glfw_application.hpp
@@ -26,6 +26,7 @@ namespace robot_dart {
                 RobotDARTSimu* _simu;
                 Magnum::Float _speed_move, _speed_strafe;
                 bool _draw_main_camera, _draw_debug;
+                Magnum::Color4 _bg_color;
 
                 static constexpr Magnum::Float _speed = 0.05f;
 
diff --git a/src/robot_dart/gui/magnum/sensor/camera.cpp b/src/robot_dart/gui/magnum/sensor/camera.cpp
@@ -69,7 +69,7 @@ namespace robot_dart {
                     Magnum::GL::Renderer::setBlendFunction(Magnum::GL::Renderer::BlendFunction::SourceAlpha, Magnum::GL::Renderer::BlendFunction::OneMinusSourceAlpha);
                     Magnum::GL::Renderer::setBlendEquation(Magnum::GL::Renderer::BlendEquation::Add);
 
-                    /* Change default clear color to black */
+                    /* Change clear color to black */
                     Magnum::GL::Renderer::setClearColor(Magnum::Vector4{0.f, 0.f, 0.f, 1.f});
 
                     /* Bind the framebuffer */
diff --git a/src/robot_dart/gui/magnum/windowless_gl_application.cpp b/src/robot_dart/gui/magnum/windowless_gl_application.cpp
@@ -12,7 +12,11 @@ namespace robot_dart {
                   Magnum::Platform::WindowlessApplication({argc, argv}, Magnum::NoCreate),
                   _simu(simu),
                   _draw_main_camera(configuration.draw_main_camera),
-                  _draw_debug(configuration.draw_debug)
+                  _draw_debug(configuration.draw_debug),
+                  _bg_color(configuration.bg_color[0],
+                      configuration.bg_color[1],
+                      configuration.bg_color[2],
+                      configuration.bg_color[3])
             {
                 /* Assume context is given externally, if not create it */
                 if (!Magnum::GL::Context::hasCurrent()) {
@@ -65,8 +69,8 @@ namespace robot_dart {
                     Magnum::GL::Renderer::setBlendFunction(Magnum::GL::Renderer::BlendFunction::SourceAlpha, Magnum::GL::Renderer::BlendFunction::OneMinusSourceAlpha);
                     Magnum::GL::Renderer::setBlendEquation(Magnum::GL::Renderer::BlendEquation::Add);
 
-                    /* Change default clear color to black */
-                    Magnum::GL::Renderer::setClearColor(Magnum::Vector4{0.f, 0.f, 0.f, 1.f});
+                    /* Change clear color to _bg_color */
+                    Magnum::GL::Renderer::setClearColor(_bg_color);
 
                     /* Bind the framebuffer */
                     _framebuffer.bind();
diff --git a/src/robot_dart/gui/magnum/windowless_gl_application.hpp b/src/robot_dart/gui/magnum/windowless_gl_application.hpp
@@ -19,7 +19,7 @@ namespace robot_dart {
             protected:
                 RobotDARTSimu* _simu;
                 bool _draw_main_camera, _draw_debug;
-
+                Magnum::Color4 _bg_color;
                 Magnum::GL::Framebuffer _framebuffer{Magnum::NoCreate};
                 Magnum::PixelFormat _format;
                 Magnum::GL::Renderbuffer _color{Magnum::NoCreate}, _depth{Magnum::NoCreate};
diff --git a/src/robot_dart/robot_dart_simu.cpp b/src/robot_dart/robot_dart_simu.cpp
@@ -501,7 +501,7 @@ namespace robot_dart {
         return floor_robot;
     }
 
-    std::shared_ptr<Robot> RobotDARTSimu::add_checkerboard_floor(double floor_width, double floor_height, double size, const Eigen::Vector6d& pose, const std::string& floor_name)
+    std::shared_ptr<Robot> RobotDARTSimu::add_checkerboard_floor(double floor_width, double floor_height, double size, const Eigen::Vector4d& first_color, const Eigen::Vector4d& second_color, const Eigen::Vector6d& pose, const std::string& floor_name)
     {
         // We do not want 2 floors with the same name!
         if (_world->getSkeleton(floor_name) != nullptr)
@@ -546,9 +546,9 @@ namespace robot_dart {
                 // no collision/dynamics for these ones; only visual shape
                 auto box_node = body->createShapeNodeWith<dart::dynamics::VisualAspect>(box);
                 if (c % 2 == 0)
-                    box_node->getVisualAspect()->setColor(dart::Color::Gray());
+                    box_node->getVisualAspect()->setColor(second_color);
                 else
-                    box_node->getVisualAspect()->setColor(dart::Color::White());
+                    box_node->getVisualAspect()->setColor(first_color);
 
                 // Put the body into position
                 Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
diff --git a/src/robot_dart/robot_dart_simu.hpp b/src/robot_dart/robot_dart_simu.hpp
@@ -129,7 +129,7 @@ namespace robot_dart {
         std::shared_ptr<simu::TextData> add_text(const std::string& text, const Eigen::Affine2d& tf = Eigen::Affine2d::Identity(), Eigen::Vector4d color = Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment = (1 | 3 << 3), bool draw_bg = false, Eigen::Vector4d bg_color = Eigen::Vector4d(0, 0, 0, 0.75), double font_size = 28);
 
         std::shared_ptr<Robot> add_floor(double floor_width = 10.0, double floor_height = 0.1, const Eigen::Vector6d& pose = Eigen::Vector6d::Zero(), const std::string& floor_name = "floor");
-        std::shared_ptr<Robot> add_checkerboard_floor(double floor_width = 10.0, double floor_height = 0.1, double size = 1., const Eigen::Vector6d& pose = Eigen::Vector6d::Zero(), const std::string& floor_name = "checkerboard_floor");
+        std::shared_ptr<Robot> add_checkerboard_floor(double floor_width = 10.0, double floor_height = 0.1, double size = 1., const Eigen::Vector4d& first_color = dart::Color::White(1.), const Eigen::Vector4d& second_color = dart::Color::Gray(1.), const Eigen::Vector6d& pose = Eigen::Vector6d::Zero(), const std::string& floor_name = "checkerboard_floor");
 
         void set_collision_detector(const std::string& collision_detector); // collision_detector can be "DART", "FCL", "Ode" or "Bullet" (case does not matter)
         const std::string& collision_detector() const;
