def makeLabels(self):
"""
Method which makes Coin3D labels to be displayed in the FreeCAD View.
Frame labels for axes X, Y and Z are made.
The labels have the same color as the axes.
Returns:
A SoSwitch with colored text label to be shown in the FreeCAD View.
"""
label_strings = ["X", "Y", "Z"]
colors = [0xFF0000FF, 0x00FF00FF, 0x0000FFFF]
self.label_texts = []
self.label_translations = []
# frame translation
self.label_translations.append(coin.SoTranslation())
# axis translation
self.label_translations.append(coin.SoTranslation())
self.labels = []
for i in range(3):
label_group = coin.SoSeparator()
label_group.addChild(self.label_translations[0])
frame_axis_color = coin.SoPackedColor()
frame_axis_color.orderedRGBA.setValue(colors[i])
label_group.addChild(frame_axis_color)
self.label_texts.append(coin.SoText2())
self.label_texts[i].string.setValues(
0, 3, ["", label_strings[i], ""])
self.label_texts[i].justification.setValue(
self.label_texts[i].CENTER)
self.label_texts[i].spacing.setValue(0.45)
label_group.addChild(self.label_texts[i])
self.labels.append(coin.SoSwitch())
self.labels[i].addChild(label_group)
return self.labels
def makeLabels(self):
label_strings = ["X", "Y", "Z"]
colors = [0xFF0000FF, 0x00FF00FF, 0x0000FFFF]
self.label_texts = []
self.label_translations = []
# frame translation
self.label_translations.append(coin.SoTranslation())
# axis translation
self.label_translations.append(coin.SoTranslation())
self.labels = []
for i in range(3):
label_group = coin.SoSeparator()
label_group.addChild(self.label_translations[0])
frame_axis_color = coin.SoPackedColor()
frame_axis_color.orderedRGBA.setValue(colors[i])
label_group.addChild(frame_axis_color)
self.label_texts.append(coin.SoText2())
self.label_texts[i].string.setValues(0, 3,
["", label_strings[i], ""])
self.label_texts[i].justification.setValue(
self.label_texts[i].CENTER)
self.label_texts[i].spacing.setValue(0.45)
label_group.addChild(self.label_texts[i])
self.labels.append(coin.SoSwitch())
self.labels[i].addChild(label_group)
return self.labels
def makeFrame(self, frame_labels):
"""
Method which makes a Coin3D frame to show a current pose in a RobRotation.
A frame is made from 3 red, green and blue arrows representing X, Y and Z.
Arrows are each constructed from a shaft and an arrowhead. Their dimensions
and other attributes are unassigned as they are extracted from appropriate
`RobRotation` properties.
Returns:
A SoSeparator with the frame shown in the FreeCAD View.
"""
# make a generic shaft from 0 in Y direction
shaft_vertices = coin.SoVertexProperty()
shaft_vertices.vertex.setNum(2)
shaft_vertices.vertex.set1Value(0, 0, 0, 0)
self.frame_shaft = coin.SoLineSet()
self.frame_shaft.vertexProperty.setValue(shaft_vertices)
self.frame_shaft.numVertices.setNum(1)
self.frame_shaft.numVertices.setValue(2)
# make a generic conic arrowhead oriented in Y axis direction and
# move it at the end of the shaft
self.frame_arrowhead_translation = coin.SoTranslation()
self.frame_arrowhead_cone = coin.SoCone()
self.frame_arrowhead = coin.SoSwitch()
self.frame_arrowhead.addChild(self.frame_arrowhead_translation)
self.frame_arrowhead.addChild(self.frame_arrowhead_cone)
# make rotations to rotate prepared shaft and arrowhead for Y axis
# direction also to X and Z
rot_y2x = coin.SoRotation()
rot_y2x.rotation.setValue(coin.SbRotation(coin.SbVec3f(0, 1, 0),
coin.SbVec3f(1, 0, 0)))
rot_y2z = coin.SoRotation()
rot_y2z.rotation.setValue(coin.SbRotation(coin.SbVec3f(0, 1, 0),
coin.SbVec3f(0, 0, 1)))
# prepare colors for X,Y,Z which will correspond to R,G,B as customary
self.frame_color_x = coin.SoPackedColor()
self.frame_color_y = coin.SoPackedColor()
self.frame_color_z = coin.SoPackedColor()
# make complete colored and rotated arrows
x_arrow = coin.SoSeparator()
x_arrow.addChild(rot_y2x)
x_arrow.addChild(self.frame_color_x)
x_arrow.addChild(self.frame_shaft)
x_arrow.addChild(self.frame_arrowhead)
x_arrow.addChild(frame_labels[0])
y_arrow = coin.SoSeparator()
y_arrow.addChild(self.frame_color_y)
y_arrow.addChild(self.frame_shaft)
y_arrow.addChild(self.frame_arrowhead)
y_arrow.addChild(frame_labels[1])
z_arrow = coin.SoSeparator()
z_arrow.addChild(rot_y2z)
z_arrow.addChild(self.frame_color_z)
z_arrow.addChild(self.frame_shaft)
z_arrow.addChild(self.frame_arrowhead)
z_arrow.addChild(frame_labels[2])
# prepare draw style to control shaft width
self.frame_drawstyle = coin.SoDrawStyle()
# make complete frame and it to shaded display mode
separated_frame = coin.SoSeparator()
separated_frame.addChild(self.frame_drawstyle)
separated_frame.addChild(x_arrow)
separated_frame.addChild(y_arrow)
separated_frame.addChild(z_arrow)
return separated_frame
def makeFrame(self, frame_labels):
# make a generic shaft from 0 in Y direction
shaft_vertices = coin.SoVertexProperty()
shaft_vertices.vertex.setNum(2)
shaft_vertices.vertex.set1Value(0, 0, 0, 0)
self.frame_shaft = coin.SoLineSet()
self.frame_shaft.vertexProperty.setValue(shaft_vertices)
self.frame_shaft.numVertices.setNum(1)
self.frame_shaft.numVertices.setValue(2)
# make a generic conic arrowhead oriented in Y axis direction and
# move it at the end of the shaft
self.frame_arrowhead_translation = coin.SoTranslation()
self.frame_arrowhead_cone = coin.SoCone()
self.frame_arrowhead = coin.SoSwitch()
self.frame_arrowhead.addChild(self.frame_arrowhead_translation)
self.frame_arrowhead.addChild(self.frame_arrowhead_cone)
# make rotations to rotate prepared shaft and arrowhead for Y axis
# direction also to X and Z
rot_y2x = coin.SoRotation()
rot_y2x.rotation.setValue(
coin.SbRotation(coin.SbVec3f(0, 1, 0), coin.SbVec3f(1, 0, 0)))
rot_y2z = coin.SoRotation()
rot_y2z.rotation.setValue(
coin.SbRotation(coin.SbVec3f(0, 1, 0), coin.SbVec3f(0, 0, 1)))
# prepare colors for X,Y,Z which will correspond to R,G,B as customary
self.frame_color_x = coin.SoPackedColor()
self.frame_color_y = coin.SoPackedColor()
self.frame_color_z = coin.SoPackedColor()
# make complete colored and rotated arrows
x_arrow = coin.SoSeparator()
x_arrow.addChild(rot_y2x)
x_arrow.addChild(self.frame_color_x)
x_arrow.addChild(self.frame_shaft)
x_arrow.addChild(self.frame_arrowhead)
x_arrow.addChild(frame_labels[0])
y_arrow = coin.SoSeparator()
y_arrow.addChild(self.frame_color_y)
y_arrow.addChild(self.frame_shaft)
y_arrow.addChild(self.frame_arrowhead)
y_arrow.addChild(frame_labels[1])
z_arrow = coin.SoSeparator()
z_arrow.addChild(rot_y2z)
z_arrow.addChild(self.frame_color_z)
z_arrow.addChild(self.frame_shaft)
z_arrow.addChild(self.frame_arrowhead)
z_arrow.addChild(frame_labels[2])
# prepare draw style to control shaft width
self.frame_drawstyle = coin.SoDrawStyle()
# make complete frame and it to shaded display mode
separated_frame = coin.SoSeparator()
separated_frame.addChild(self.frame_drawstyle)
separated_frame.addChild(x_arrow)
separated_frame.addChild(y_arrow)
separated_frame.addChild(z_arrow)
return separated_frame