VoxelGridShapeNode.hpp

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#ifndef DART_GUI_OSG_RENDER_VOXELGRIDSHAPENODE_HPP_
#define DART_GUI_OSG_RENDER_VOXELGRIDSHAPENODE_HPP_
 
#include "dart/config.hpp"
 
#if HAVE_OCTOMAP
 
#  include <osg/MatrixTransform>
#  include <osg/ShapeDrawable>
 
#  include "dart/gui/osg/render/ShapeNode.hpp"
 
namespace dart {
 
namespace dynamics {
class VoxelGridShape;
} // namespace dynamics
 
namespace gui {
namespace osg {
namespace render {
 
class VoxelGridShapeGeode;
class VoxelNode;
 
class VoxelGridShapeNode : public ShapeNode, public ::osg::Group
{
public:
  VoxelGridShapeNode(
      std::shared_ptr<dynamics::VoxelGridShape> shape, ShapeFrameNode* parent);
 
  void refresh() override;
  void extractData(bool firstTime);
 
protected:
  virtual ~VoxelGridShapeNode() override;
 
  std::shared_ptr<dynamics::VoxelGridShape> mVoxelGridShape;
  VoxelGridShapeGeode* mGeode;
  std::vector<::osg::ref_ptr<VoxelNode>> mVoxelNodes;
  std::size_t mVoxelGridVersion;
};
 
} // namespace render
} // namespace osg
} // namespace gui
} // namespace dart
 
#endif // HAVE_OCTOMAP
 
#endif // DART_GUI_OSG_RENDER_VOXELGRIDSHAPENODE_HPP_