Hi

I am trying the display all the reference frames/co-ordinate axis present in my simulation/scene.

In example-1,2 and 3. Reference frame is displayed using

cShapeSphere* cursor;
cursor->setShowFrame(true);
cursor->setFrameSize(0.05);

and by using haptics update function , we kept on updating the cursor with the haptic device.


Now i want to display all the reference frames of the objects present in Example:22 Chrome
1. world reference frame
2. Tool reference frame
3. Object(chrome) reference frame.

I am successful only up to displaying the world frame by using the above piece of code.
I tried using
tool->setShowFrame(true);
object->setShowFrame(true); But unable to to display them.

How can i display both tool and object reference/co-ordinate frame (in general all objects)present in the scene ?

Rendering reference frames requires enabling their display and optionally setting their size.
These settings can also been propagated to their children.

Here is an example:

    // enable display of reference frames and apply option to all children in scenegraph
    world->setShowFrame(true, true);

    // set reference frame size and apply option to all children in scenegraph
    world->setFrameSize(0.1, true);

    // display frame of proxy
    tool->m_hapticPoint->m_sphereProxy->setShowFrame(true);
    tool->m_hapticPoint->m_sphereProxy->setFrameSize(0.2);

    // display frame of haptic device (goal position)
    tool->m_hapticPoint->m_sphereGoal->->setShowFrame(true);
    tool->m_hapticPoint->m_sphereGoal->setFrameSize(0.2);

Hi,

Thanks for the reply.

I tried the above code.
tool->m_hapticPoint->m_sphereProxy->setShowFrame(true);
tool->m_hapticPoint->m_sphereProxy->setFrameSize(0.2);

The reference frame's position is updated along with the m_sphereProxy/m_sphereGoal.
But the orientation is not getting updated. What ever the be the rotation of the haptic device (i have omni phantom) the axis remains in same orientation.