rawPointsMeshBuilder.addTetrahedron(VisualizationParameters.CLUSTER_RAWPOINT_SIZE, rawPoint); navigableExtrusionsMeshBuilder .addMultiLine(cluster.getNavigableExtrusionsInWorld(), VisualizationParameters.NAVIGABLECLUSTER_LINE_THICKNESS, false); nonNavigableExtrusionsMeshBuilder .addMultiLine(cluster.getNonNavigableExtrusionsInWorld(), VisualizationParameters.NON_NAVIGABLECLUSTER_LINE_THICKNESS, false);
private void buildMeshAndMaterial(PlanarRegionsList planarRegionsList) { if (VERBOSE) PrintTools.info(this, "Creating mesh and material for new planar regions."); RigidBodyTransform transformToWorld = new RigidBodyTransform(); List<MeshView> regionMeshViews = new ArrayList<>(); for (int regionIndex = 0; regionIndex < planarRegionsList.getNumberOfPlanarRegions(); regionIndex++) { JavaFXMeshBuilder meshBuilder = new JavaFXMeshBuilder(); PlanarRegion planarRegion = planarRegionsList.getPlanarRegion(regionIndex); int regionId = planarRegion.getRegionId(); planarRegion.getTransformToWorld(transformToWorld); meshBuilder.addMultiLine(transformToWorld, Arrays.asList(planarRegion.getConcaveHull()), VisualizationParameters.CONCAVEHULL_LINE_THICKNESS, true); for (int polygonIndex = 0; polygonIndex < planarRegion.getNumberOfConvexPolygons(); polygonIndex++) { ConvexPolygon2D convexPolygon2d = planarRegion.getConvexPolygon(polygonIndex); meshBuilder.addPolygon(transformToWorld, convexPolygon2d); } MeshView regionMeshView = new MeshView(meshBuilder.generateMesh()); regionMeshView.setMaterial(new PhongMaterial(getRegionColor(regionId))); regionMeshViews.add(regionMeshView); } graphicsToRender.set(regionMeshViews); }