RealTimeWorldNode.hpp

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#ifndef DART_GUI_OSG_REALTIMEWORLDNODE_HPP_
#define DART_GUI_OSG_REALTIMEWORLDNODE_HPP_
 
#include <osg/Timer>
 
#include "dart/gui/osg/WorldNode.hpp"
 
namespace dart {
namespace gui {
namespace osg {
 
class RealTimeWorldNode : public WorldNode
{
public:
  RealTimeWorldNode(
      const std::shared_ptr<dart::simulation::World>& world = nullptr,
      const ::osg::ref_ptr<osgShadow::ShadowTechnique>& shadower = nullptr,
      double targetFrequency = 60.0,
      double targetRealTimeFactor = 1.0);
 
  void setTargetFrequency(double targetFrequency);
 
  double getTargetFrequency() const;
 
  void setTargetRealTimeFactor(double targetRTF);
 
  double getTargetRealTimeFactor() const;
 
  double getLastRealTimeFactor() const;
 
  double getLowestRealTimeFactor() const;
 
  double getHighestRealTimeFactor() const;
 
  // Documentation inherited
  void refresh() override;
 
protected:
  bool mFirstRefresh;
 
  ::osg::Timer mRefreshTimer;
 
  double mTargetRealTimeLapse;
 
  double mTargetSimTimeLapse;
 
  double mLastRealTimeFactor;
 
  double mLowestRealTimeFactor;
 
  double mHighestRealTimeFactor;
};
 
} // namespace osg
} // namespace gui
} // namespace dart
 
#endif // DART_GUI_OSG_REALTIMEWORLDNODE_HPP_