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Fix incorrect alpha value update of InteractiveFrame #1297

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merged 3 commits into from
Apr 29, 2019
Merged

Fix incorrect alpha value update of InteractiveFrame #1297

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036d172
Fix setting alpha of aiColor4D
jslee02 Apr 29, 2019
9f12e69
Update changelog
jslee02 Apr 29, 2019
0f0fb3d
Merge branch 'master' into interactive_frame
jslee02 Apr 29, 2019
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@

* Added heightmap support to OSG renderer: [#1293](https://github.com/dartsim/dart/pull/1293)
* Improved voxel grid and point cloud rendering performance: [#1294](https://github.com/dartsim/dart/pull/1294)
* Fixed incorrect alpha value update of InteractiveFrame: [#1297](https://github.com/dartsim/dart/pull/1297)

#### Compilers Tested

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2 changes: 1 addition & 1 deletion dart/dynamics/MeshShape.cpp
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Expand Up @@ -192,7 +192,7 @@ void MeshShape::notifyAlphaUpdated(double alpha)
{
aiMesh* mesh = mMesh->mMeshes[i];
for(std::size_t j=0; j<mesh->mNumVertices; ++j)
mesh->mColors[0][j][3] = alpha;
mesh->mColors[0][j].a = alpha;
}
}

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6 changes: 2 additions & 4 deletions dart/gui/osg/InteractiveFrame.cpp
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Expand Up @@ -283,7 +283,6 @@ void InteractiveFrame::createStandardVisualizationShapes(double size,
for(std::size_t a=0; a<3; ++a)
{
Eigen::Vector3d tail(Eigen::Vector3d::Zero());
// tail[a] = 1.2*plane_length;
tail[a] = ring_inner_scale;
Eigen::Vector3d head(Eigen::Vector3d::Zero());
head[a] = size;
Expand All @@ -302,7 +301,6 @@ void InteractiveFrame::createStandardVisualizationShapes(double size,
dart::dynamics::ShapePtr(
new dart::dynamics::ArrowShape(tail, head, p, color, 100)));

// tail[a] = -1.2*plane_length;
tail[a] = -ring_inner_scale;
head[a] = -size;

Expand Down Expand Up @@ -363,8 +361,8 @@ void InteractiveFrame::createStandardVisualizationShapes(double size,
}
color1[r] = 1.0;
color2[r] = 0.6;
color1[3] = getTool(InteractiveTool::ANGULAR,r)->getDefaultAlpha();
color2[3] = getTool(InteractiveTool::ANGULAR,r)->getDefaultAlpha();
color1.a = getTool(InteractiveTool::ANGULAR,r)->getDefaultAlpha();
color2.a = getTool(InteractiveTool::ANGULAR,r)->getDefaultAlpha();
mesh->mColors[0][4*i+j] = ((4*i+j)%2 == 0)? color1 : color2;
mesh->mColors[0][4*i+j+R] = ((4*i+j+R)%2 == 0)? color1 : color2;
mesh->mColors[0][4*i+2+j] = ((4*i+2+j)%2 == 0)? color1 : color2;
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2 changes: 1 addition & 1 deletion dart/gui/osg/render/MeshShapeNode.cpp
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Expand Up @@ -205,7 +205,7 @@ std::ostream& operator<<(std::ostream& str, const aiColor4D& c)
//==============================================================================
bool checkSpecularSanity(const aiColor4D& c)
{
if(c[0] >= 1.0 && c[1] >= 1.0 && c[2] >= 1.0 && c[3] >= 1.0)
if(c.r >= 1.0 && c.g >= 1.0 && c.b >= 1.0 && c.a >= 1.0)
return false;

return true;
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