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Added visualize function without storage #89

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Added visualize function without storage #89

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45 changes: 41 additions & 4 deletions src/visuals/visualizer.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ function visualize(mechanism::Mechanism, storage::Storage{T,N};

# Build robot in the visualizer
build && build_robot(mechanism;
vis, show_joint, show_contact, show_frame, color, name, visualize_floor)
vis, show_joint, joint_radius, show_contact, show_frame, color, name, visualize_floor)

# Create animations
timestep_max = 1/framerate
Expand All @@ -56,8 +56,7 @@ function visualize(mechanism::Mechanism, storage::Storage{T,N};
if show_joint
for (jd, joint) in enumerate(mechanism.joints)
if joint.child_id == body.id
radius = 0.1
joint_shape = Sphere(radius,
joint_shape = Sphere(joint_radius,
position_offset=joint.translational.vertices[2],
color=RGBA(0.0, 0.0, 1.0, 0.5))
visshape = convert_shape(joint_shape)
Expand Down Expand Up @@ -116,6 +115,44 @@ function visualize(mechanism::Mechanism, storage::Storage{T,N};
return_animation ? (return vis, animation) : (return vis)
end

"""
visualize(mechanism; vis, build, show_contact, animation, color, name)

visualize mechanism pose from current state

mechanism: Mechanism
vis: Visualizer
build: flag to construct mechanism visuals (only needs to be built once)
show_contact: flag to show contact locations on system
color: RGBA
name: unique identifier for mechanism
"""
function visualize(mechanism::Mechanism;
vis::Visualizer=Visualizer(),
framerate=60, # Inf for 1/timestep
build::Bool=true,
show_joint=false,
joint_radius=0.1,
show_contact=false,
show_frame=false,
animation=nothing,
color=nothing,
name::Symbol=:robot,
return_animation=false,
visualize_floor=true) where {T,N}

# Create 1 step storage from current body state
storage = Storage(1, length(mechanism.bodies))
for (i, body) in enumerate(mechanism.bodies)
storage.x[i][1] = body.state.x2
storage.q[i][1] = body.state.q2
end

visualize(mechanism, storage;
vis, framerate, build, show_joint, joint_radius, show_contact, show_frame,
animation, color, name, return_animation, visualize_floor)
end

"""
build_robot(mechanism; vis, show_contact, name, color)

Expand Down Expand Up @@ -242,7 +279,7 @@ function animate_node!(storage::Storage{T,N}, id, shape, animation, shapevisuali
x = storage.x[id][i]
q = storage.q[id][i]
atframe(animation, frame_id) do
set_node!(x, q, shape, shapevisualizer, showshape)
set_node!(x, q, shape, shapevisualizer, showshape)
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end
frame_id += 1
end
Expand Down