PointCloudShapeNode.hpp

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#ifndef DART_GUI_OSG_RENDER_POINTCLOUDSHAPENODE_HPP_
#define DART_GUI_OSG_RENDER_POINTCLOUDSHAPENODE_HPP_
 
#include <Eigen/Dense>
#include <osg/Group>
 
#include "dart/dynamics/PointCloudShape.hpp"
#include "dart/gui/osg/render/ShapeNode.hpp"
 
namespace dart {
 
namespace dynamics {
class PointCloudShape;
} // namespace dynamics
 
namespace gui {
namespace osg {
namespace render {
 
class PointCloudShapeGeode;
class PointCloudShapeBillboardGeode;
class PointNode;
class PointNodes;
 
class PointCloudShapeNode : public ShapeNode, public ::osg::Group
{
public:
  PointCloudShapeNode(
      std::shared_ptr<dart::dynamics::PointCloudShape> shape,
      ShapeFrameNode* parent);
 
  void refresh() override;
  void extractData(bool firstTime);
 
  ::osg::ref_ptr<PointNodes> createPointNodes();
 
protected:
  virtual ~PointCloudShapeNode() override;
 
  std::shared_ptr<dart::dynamics::PointCloudShape> mPointCloudShape;
  ::osg::ref_ptr<PointNodes> mPointNodes;
  std::size_t mPointCloudVersion;
 
  dynamics::PointCloudShape::PointShapeType mPointShapeType;
};
 
} // namespace render
} // namespace osg
} // namespace gui
} // namespace dart
 
#endif // DART_GUI_OSG_RENDER_POINTCLOUDSHAPENODE_HPP_