33 #ifndef DART_GUI_GLUT_SIMWINDOW_HPP_
34 #define DART_GUI_GLUT_SIMWINDOW_HPP_
38 #include <Eigen/Dense>
80 void keyboard(
unsigned char _key,
int _x,
int _y)
override;
89 void plot(Eigen::VectorXd& _data);
97 const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
98 bool useDefaultColor =
true)
const;
102 const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
103 bool useDefaultColor =
true)
const;
107 const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
108 bool useDefaultColor =
true,
109 bool recursive =
false)
const;
113 const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
114 bool useDefaultColor =
true)
const;
118 const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5))
const;
121 const std::vector<dynamics::PointMass*> pointMasses,
122 const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
123 bool useDefaultColor =
true)
const;
127 const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
128 bool useDefaultColor =
true)
const;
#define DART_DEPRECATED(version)
Definition: Deprecated.hpp:51
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:79
Entity class is a base class for any objects that exist in the kinematic tree structure of DART.
Definition: Entity.hpp:61
Definition: Marker.hpp:50
Definition: ShapeFrame.hpp:192
class Skeleton
Definition: Skeleton.hpp:59
Definition: SimWindow.hpp:52
virtual void drawSkeletons() const
Definition: SimWindow.cpp:111
virtual void drawWorld() const
Definition: SimWindow.cpp:102
virtual void drawShape(const dynamics::Shape *shape, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5)) const
Definition: SimWindow.cpp:419
bool mShowMarkers
If true, render markers.
Definition: SimWindow.hpp:146
void keyboard(unsigned char _key, int _x, int _y) override
Definition: SimWindow.cpp:236
void displayTimer(int _val) override
Definition: SimWindow.cpp:130
bool mPlay
Definition: SimWindow.hpp:137
virtual void drawBodyNode(const dynamics::BodyNode *bodyNode, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true, bool recursive=false) const
Definition: SimWindow.cpp:340
virtual void drawPointMasses(const std::vector< dynamics::PointMass * > pointMasses, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const
Definition: SimWindow.cpp:521
virtual void timeStepping()
Definition: SimWindow.cpp:96
virtual void drawMarker(const dynamics::Marker *marker, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const
Definition: SimWindow.cpp:558
std::vector< GraphWindow * > mGraphWindows
Array of graph windows.
Definition: SimWindow.hpp:149
void setWorld(dart::simulation::WorldPtr _world)
Definition: SimWindow.cpp:281
virtual void drawSkels()
Definition: SimWindow.cpp:118
void saveWorld()
Save world in 'tempWorld.txt'.
Definition: SimWindow.cpp:286
virtual ~SimWindow()
Definition: SimWindow.cpp:90
simulation::WorldPtr mWorld
Definition: SimWindow.hpp:131
virtual void drawShapeFrame(const dynamics::ShapeFrame *shapeFrame, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const
Definition: SimWindow.cpp:391
SimWindow()
Definition: SimWindow.cpp:72
int mPlayFrame
Definition: SimWindow.hpp:134
bool mSimulating
Definition: SimWindow.hpp:140
bool mShowPointMasses
If true, render point masses of soft bodies.
Definition: SimWindow.hpp:143
void draw() override
Definition: SimWindow.cpp:151
virtual void drawEntity(const dynamics::Entity *entity, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const
Definition: SimWindow.cpp:316
virtual void drawSkeleton(const dynamics::Skeleton *skeleton, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const
Definition: SimWindow.cpp:303
void plot(Eigen::VectorXd &_data)
Plot _data in a 2D window.
Definition: SimWindow.cpp:294
virtual void drawEntities()
Definition: SimWindow.cpp:124
::dart::gui::glut::GraphWindow GraphWindow
Definition: GraphWindow.hpp:52
std::shared_ptr< World > WorldPtr
Definition: SmartPointer.hpp:41
Definition: BulletCollisionDetector.cpp:65