better handling of transparency

Author: baggepinnen

ext/Render.jl

@@ -607,7 +607,7 @@ function render!(scene, ::typeof(FixedTranslation), sys, sol, t)
         radius = Float32(sol($t, idxs=sys.radius))
         Makie.GeometryBasics.Cylinder(origin, extremity, radius)
     end
-    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1), transparency=true)
+    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1), transparency=color.alpha != 1)
     true
 end
 
@@ -630,7 +630,7 @@ function render!(scene, ::typeof(BodyShape), sys, sol, t)
                 extremity = r2
                 Makie.GeometryBasics.Cylinder(origin, extremity, radius)
             end
-            mesh!(scene, thing; color, specular = Vec3f(1.5), transparency=true)
+            mesh!(scene, thing; color, specular = Vec3f(1.5), transparency=color.alpha != 1)
         elseif shape == "box"
             Rfun = get_rot_fun(sol, sys.frame_a)
 
@@ -652,7 +652,7 @@ function render!(scene, ::typeof(BodyShape), sys, sol, t)
             origin = Vec3f(0, -width/2, -height/2)
             extent = Vec3f(length, width, height) 
             thing = Makie.Rect3f(origin, extent)
-            m = mesh!(scene, thing; color, specular = Vec3f(1.5), transparency=true)
+            m = mesh!(scene, thing; color, specular = Vec3f(1.5), transparency=color.alpha != 1)
             on(t) do t
                 r1 = Point3f(r_0a(t))
                 R = Rfun(t)
@@ -690,7 +690,7 @@ function render!(scene, ::typeof(BodyShape), sys, sol, t)
     #     Makie.GeometryBasics.Sphere((r1+r2) ./ 2, 0.1f0)
     # end
     # mesh!(scene, thing, color=:purple)
-    true
+    false
 end
 
 
@@ -965,7 +965,7 @@ function render!(scene, ::typeof(P.Body), sys, sol, t)
         point = Point3f(coords..., 0)
         Sphere(point, Float32(radius))
     end
-    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1))
+    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1), transparency=color.alpha != 1)
     false
 end
 
@@ -983,7 +983,7 @@ function render!(scene, ::Union{typeof(P.FixedTranslation), typeof(P.BodyShape)}
         radius = Float32(sol($t, idxs=sys.radius))
         Makie.GeometryBasics.Cylinder(origin, extremity, radius)
     end
-    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1))
+    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1), transparency=color.alpha != 1)
     true
 end
 
@@ -1000,7 +1000,7 @@ function render!(scene, ::typeof(P.Prismatic), sys, sol, t)
         radius = Float32(sol($t, idxs=sys.radius))
         Makie.GeometryBasics.Cylinder(origin, extremity, radius)
     end
-    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1))
+    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1), transparency=color.alpha != 1)
     true
 end
 
@@ -1029,7 +1029,7 @@ function render!(scene, ::typeof(P.Revolute), sys, sol, t)
         p2 = Point3f(O - length*n_w)
         Makie.GeometryBasics.Cylinder(p1, p2, radius)
     end
-    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1))
+    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1), transparency=color.alpha != 1)
     true
 end
 
@@ -1083,7 +1083,7 @@ function render!(scene, ::Union{typeof(P.SimpleWheel), typeof(P.SlipBasedWheelJo
         p2 = Point3f(O - width*n_w)
         Makie.GeometryBasics.Cylinder(p1, p2, radius)
     end
-    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1))
+    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1), transparency=color.alpha != 1)
     true
 end
 
@@ -1126,7 +1126,7 @@ function render!(scene, ::typeof(Multibody.BoxVisualizer), sys, sol, t)
     origin = Vec3f(-length/2, -width/2, -height/2) + r_shape
     extent = Vec3f(length, width, height) 
     thing = Makie.Rect3f(origin, extent)
-    m = mesh!(scene, thing; color, specular = Vec3f(1.5))
+    m = mesh!(scene, thing; color, specular = Vec3f(1.5), transparency=color.alpha != 1)
     on(t) do t
         r1 = Point3f(r_0a(t))
         R = Rfun(t)
@@ -1149,7 +1149,7 @@ function render!(scene, ::typeof(Multibody.SphereVisualizer), sys, sol, t)
         point = Point3f(coords)
         Sphere(point, Float32(radius))
     end
-    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1))
+    mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1), transparency=color.alpha != 1)
 end
 
 function render!(scene, ::typeof(Multibody.CylinderVisualizer), sys, sol, t)
@@ -1174,7 +1174,7 @@ function render!(scene, ::typeof(Multibody.CylinderVisualizer), sys, sol, t)
     origin = r1
     extremity = r2
     thing = Makie.GeometryBasics.Cylinder(origin, extremity, radius)
-    m = mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1), transparency=true)
+    m = mesh!(scene, thing; color, specular = Vec3f(1.5), shininess=20f0, diffuse=Vec3f(1), transparency=color.alpha != 1)
 
 
     on(t) do t