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More nullptr checking on visuals and base axis #486

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merged 5 commits into from
Nov 5, 2021
Merged

More nullptr checking on visuals and base axis #486

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5c69a73
More nullptr checking on visuals and base axis
chapulina Nov 5, 2021
74b5fff
revert change that affected heightmaps
chapulina Nov 5, 2021
48478a7
Merge branch 'ign-rendering6' into chapulina/6/axis_null
chapulina Nov 5, 2021
fb5469f
remove note that doesn't apply to ogre2
chapulina Nov 5, 2021
7fcfd45
Merge branch 'chapulina/6/axis_null' of ssh://github.com/ignitionrobo…
chapulina Nov 5, 2021
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3 changes: 2 additions & 1 deletion include/ignition/rendering/base/BaseAxisVisual.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -167,7 +167,8 @@ namespace ignition
{
auto arrow = std::dynamic_pointer_cast<rendering::ArrowVisual>(
this->ChildByIndex(i));
arrow->SetVisible(_visible);
if (arrow != nullptr)
arrow->SetVisible(_visible);
}
}
}
Expand Down
31 changes: 28 additions & 3 deletions ogre/src/OgreVisual.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,9 @@ void OgreVisual::SetWireframe(bool _show)
if (this->dataPtr->wireframe == _show)
return;

if (!this->ogreNode)
return;

this->dataPtr->wireframe = _show;
for (unsigned int i = 0; i < this->ogreNode->numAttachedObjects();
i++)
Expand Down Expand Up @@ -100,6 +103,9 @@ bool OgreVisual::Wireframe() const
//////////////////////////////////////////////////
void OgreVisual::SetVisible(bool _visible)
{
if (!this->ogreNode)
return;

this->ogreNode->setVisible(_visible);
}

Expand All @@ -124,6 +130,19 @@ GeometryStorePtr OgreVisual::Geometries() const
//////////////////////////////////////////////////
bool OgreVisual::AttachGeometry(GeometryPtr _geometry)
{
if (!_geometry)
{
ignerr << "Cannot attach null geometry." << std::endl;

return false;
}

if (!this->ogreNode)
{
ignerr << "Cannot attach geometry, null Ogre node." << std::endl;
return false;
}

OgreGeometryPtr derived =
std::dynamic_pointer_cast<OgreGeometry>(_geometry);

Expand Down Expand Up @@ -154,7 +173,10 @@ bool OgreVisual::AttachGeometry(GeometryPtr _geometry)
bool OgreVisual::DetachGeometry(GeometryPtr _geometry)
{
if (!this->ogreNode)
return true;
{
ignerr << "Cannot detach geometry, null Ogre node." << std::endl;
return false;
}

OgreGeometryPtr derived =
std::dynamic_pointer_cast<OgreGeometry>(_geometry);
Expand Down Expand Up @@ -200,6 +222,9 @@ void OgreVisual::BoundsHelper(ignition::math::AxisAlignedBox &_box,
void OgreVisual::BoundsHelper(ignition::math::AxisAlignedBox &_box,
bool _local, const ignition::math::Pose3d &_pose) const
{
if (!this->ogreNode)
return;

this->ogreNode->_updateBounds();
this->ogreNode->_update(false, true);

Expand Down Expand Up @@ -228,6 +253,7 @@ void OgreVisual::BoundsHelper(ignition::math::AxisAlignedBox &_box,
Ogre::Vector3 ogreMin = bb.getMinimum();
Ogre::Vector3 ogreMax = bb.getMaximum();

// Get ogre bounding boxes and size to object's scale
min = scale * ignition::math::Vector3d(ogreMin.x, ogreMin.y, ogreMin.z);
max = scale * ignition::math::Vector3d(ogreMax.x, ogreMax.y, ogreMax.z);
box.Min() = min,
Expand All @@ -240,9 +266,8 @@ void OgreVisual::BoundsHelper(ignition::math::AxisAlignedBox &_box,
if (_local)
{
ignition::math::Pose3d worldPose = this->WorldPose();
ignition::math::Quaternion parentRot = _pose.Rot();
ignition::math::Vector3d parentPos = _pose.Pos();
ignition::math::Quaternion parentRotInv = parentRot.Inverse();
ignition::math::Quaternion parentRotInv = _pose.Rot().Inverse();
ignition::math::Pose3d localTransform =
ignition::math::Pose3d(
(parentRotInv * (worldPose.Pos() - parentPos)),
Expand Down
24 changes: 23 additions & 1 deletion ogre2/src/Ogre2Visual.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,9 @@ void Ogre2Visual::SetWireframe(bool _show)
if (this->dataPtr->wireframe == _show)
return;

if (!this->ogreNode)
return;

this->dataPtr->wireframe = _show;
for (unsigned int i = 0; i < this->ogreNode->numAttachedObjects();
i++)
Expand Down Expand Up @@ -96,6 +99,9 @@ bool Ogre2Visual::Wireframe() const
//////////////////////////////////////////////////
void Ogre2Visual::SetVisible(bool _visible)
{
if (!this->ogreNode)
return;

this->ogreNode->setVisible(_visible);
}

Expand Down Expand Up @@ -130,6 +136,12 @@ bool Ogre2Visual::AttachGeometry(GeometryPtr _geometry)
return false;
}

if (!this->ogreNode)
{
ignerr << "Cannot attach geometry, null Ogre node." << std::endl;
return false;
}

Ogre2GeometryPtr derived =
std::dynamic_pointer_cast<Ogre2Geometry>(_geometry);

Expand Down Expand Up @@ -164,6 +176,12 @@ bool Ogre2Visual::AttachGeometry(GeometryPtr _geometry)
//////////////////////////////////////////////////
bool Ogre2Visual::DetachGeometry(GeometryPtr _geometry)
{
if (!this->ogreNode)
{
ignerr << "Cannot detach geometry, null Ogre node." << std::endl;
return false;
}

Ogre2GeometryPtr derived =
std::dynamic_pointer_cast<Ogre2Geometry>(_geometry);

Expand All @@ -175,7 +193,8 @@ bool Ogre2Visual::DetachGeometry(GeometryPtr _geometry)
return false;
}

this->ogreNode->detachObject(derived->OgreObject());
if (nullptr != derived->OgreObject())
this->ogreNode->detachObject(derived->OgreObject());
derived->SetParent(nullptr);
return true;
}
Expand Down Expand Up @@ -207,6 +226,9 @@ void Ogre2Visual::BoundsHelper(ignition::math::AxisAlignedBox &_box,
void Ogre2Visual::BoundsHelper(ignition::math::AxisAlignedBox &_box,
bool _local, const ignition::math::Pose3d &_pose) const
{
if (!this->ogreNode)
return;

ignition::math::Vector3d scale = this->WorldScale();

for (size_t i = 0; i < this->ogreNode->numAttachedObjects(); i++)
Expand Down