wehub-resource-sync
64 lines
2.0 KiB
Rust
64 lines
2.0 KiB
Rust
//! Logs a simple transform hierarchy with named frames.
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fn main() -> Result<(), Box<dyn std::error::Error>> {
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let rec = rerun::RecordingStreamBuilder::new(
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"rerun_example_transform3d_hierarchy_named_frames",
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)
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.spawn()?;
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// Define entities with explicit coordinate frames.
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rec.log(
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"sun",
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&[
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&rerun::Ellipsoids3D::from_half_sizes([[1.0, 1.0, 1.0]])
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.with_colors([rerun::Color::from_rgb(255, 200, 10)])
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.with_fill_mode(rerun::FillMode::Solid)
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as &dyn rerun::AsComponents,
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&rerun::CoordinateFrame::new("sun_frame"),
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],
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)?;
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rec.log(
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"planet",
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&[
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&rerun::Ellipsoids3D::from_half_sizes([[0.4, 0.4, 0.4]])
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.with_colors([rerun::Color::from_rgb(40, 80, 200)])
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.with_fill_mode(rerun::FillMode::Solid)
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as &dyn rerun::AsComponents,
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&rerun::CoordinateFrame::new("planet_frame"),
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],
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)?;
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rec.log(
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"moon",
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&[
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&rerun::Ellipsoids3D::from_half_sizes([[0.15, 0.15, 0.15]])
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.with_colors([rerun::Color::from_rgb(180, 180, 180)])
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.with_fill_mode(rerun::FillMode::Solid)
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as &dyn rerun::AsComponents,
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&rerun::CoordinateFrame::new("moon_frame"),
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],
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)?;
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// Define explicit frame relationships.
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rec.log(
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"planet_transform",
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&rerun::Transform3D::from_translation([6.0, 0.0, 0.0])
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.with_child_frame("planet_frame")
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.with_parent_frame("sun_frame"),
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)?;
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rec.log(
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"moon_transform",
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&rerun::Transform3D::from_translation([3.0, 0.0, 0.0])
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.with_child_frame("moon_frame")
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.with_parent_frame("planet_frame"),
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)?;
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// Connect the viewer to the sun's coordinate frame.
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// This is only needed in the absence of blueprints since a default view will typically be created at `/`.
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rec.log_static("/", &rerun::CoordinateFrame::new("sun_frame"))?;
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Ok(())
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}
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