ShapeNode.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_GUI_OSG_RENDER_SHAPEGEODE_HPP_
#define DART_GUI_OSG_RENDER_SHAPEGEODE_HPP_
 
#include <memory>
#include <osg/Node>
 
namespace dart {
 
namespace dynamics {
class Shape;
class ShapeFrame;
class SimpleFrame;
class VisualAspect;
} // namespace dynamics
 
namespace gui {
namespace osg {
 
class Node;
class Group;
class EntityNode;
class ShapeFrameNode;
 
namespace render {
 
class ShapeNode
{
public:
  ShapeNode(
      std::shared_ptr<dart::dynamics::Shape> shape,
      ShapeFrameNode* parentNode,
      ::osg::Node* node);
 
  virtual ~ShapeNode();
 
  const std::shared_ptr<dart::dynamics::Shape>& getShape() const;
 
  const dart::dynamics::ShapeFrame* getShapeFrame() const;
 
  dart::dynamics::VisualAspect* getVisualAspect();
 
  const dart::dynamics::VisualAspect* getVisualAspect() const;
 
  ::osg::Node* getNode();
 
  const ::osg::Node* getNode() const;
 
  ShapeFrameNode* getParentShapeFrameNode();
 
  const ShapeFrameNode* getParentShapeFrameNode() const;
 
  virtual void refresh() = 0;
 
  bool wasUtilized() const;
 
  void clearUtilization();
 
protected:
  const std::shared_ptr<dart::dynamics::Shape> mShape;
 
  dart::dynamics::ShapeFrame* mShapeFrame;
 
  dart::dynamics::VisualAspect* mVisualAspect;
 
  ShapeFrameNode* mParentShapeFrameNode;
 
  ::osg::Node* mNode;
 
  bool mUtilized;
};
 
} // namespace render
} // namespace osg
} // namespace gui
} // namespace dart
 
#endif // DART_GUI_OSG_RENDER_SHAPEGEODE_HPP_