#include <RealTimeWorldNode.hpp>

Inheritance diagram for dart::gui::osg::RealTimeWorldNode:

Public Member Functions
	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)
	Construct a world node that will attempt to run a simulation with close to real-time playback. More...

void	setTargetFrequency (double targetFrequency)
	Set the target refresh rate frequency. More...

double	getTargetFrequency () const
	Get the target refresh rate frequency. More...

void	setTargetRealTimeFactor (double targetRTF)
	Set the target real time factor. More...

double	getTargetRealTimeFactor () const
	Get the target real time factor. More...

double	getLastRealTimeFactor () const
	Get the real time factor that was achieved in the last refresh cycle. More...

double	getLowestRealTimeFactor () const
	Get the lowest real time factor that has been hit during the simulation. More...

double	getHighestRealTimeFactor () const
	Get the highest real time factor that has been hit during the simulation. More...

void	refresh () override
	This function is called at the beginning of each rendering cycle. More...

void	setWorld (std::shared_ptr< dart::simulation::World > newWorld)
	Set the World that this WorldNode is associated with. More...

std::shared_ptr< dart::simulation::World >	getWorld () const
	Get the World that this WorldNode is associated with. More...

virtual void	customPreRefresh ()
	If update() is not overloaded, this function will be called at the beginning of each rendering cycle. More...

virtual void	customPostRefresh ()
	If update() is not overloaded, this function will be called at the end of each rendering cycle. More...

virtual void	customPreStep ()
	If update() is not overloaded, this function will be called at the beginning of each simulation step. More...

virtual void	customPostStep ()
	If update() is not overloaded, this function will be called at the end of each simulation step. More...

bool	isSimulating () const
	Returns true iff the WorldNode is stepping between render cycles. More...

void	simulate (bool on)
	Pass in true to take steps between render cycles; pass in false to turn off steps between render cycles. More...

void	setNumStepsPerCycle (std::size_t steps)
	Set the number of steps to take between each render cycle (only if the simulation is not paused) More...

std::size_t	getNumStepsPerCycle () const
	Get the number of steps that will be taken between each render cycle (only if the simulation is not paused) More...

bool	isShadowed () const
	Get whether the WorldNode is casting shadows. More...

void	setShadowTechnique (::osg::ref_ptr< osgShadow::ShadowTechnique > shadowTechnique=nullptr)
	Set the ShadowTechnique If you wish to disable shadows, pass a nullptr. More...

::osg::ref_ptr< osgShadow::ShadowTechnique >	getShadowTechnique () const
	Get the current ShadowTechnique nullptr is there are no shadows. More...

static ::osg::ref_ptr< osgShadow::ShadowTechnique >	createDefaultShadowTechnique (const Viewer *viewer)
	Helper function to create a default ShadowTechnique given a Viewer the default ShadowTechnique is ShadowMap. More...

Protected Types
using	NodeMap = std::unordered_map< dart::dynamics::Frame *, ::osg::ref_ptr< ShapeFrameNode > >

Protected Member Functions
virtual void	setupViewer ()
	Called when this world gets added to an dart::gui::osg::Viewer. More...

void	clearChildUtilizationFlags ()
	Clear the utilization flags of each child node. More...

void	clearUnusedNodes ()
	Clear any nodes whose utilization flags were not triggered on this render cycle. More...

void	refreshSkeletons ()
	Refresh all the Skeleton rendering data. More...

void	refreshSimpleFrames ()
	Refresh all the custom Frame rendering data. More...

void	refreshBaseFrameNode (dart::dynamics::Frame *frame)

void	refreshShapeFrameNode (dart::dynamics::Frame *frame)

Protected Attributes
bool	mFirstRefresh
	Reset each time the simulation is paused. More...

::osg::Timer	mRefreshTimer
	Keeps track of the time between refreshes. More...

double	mTargetRealTimeLapse
	The target for how much time should elapse between refreshes. More...

double	mTargetSimTimeLapse
	The target for how much simulation time should elapse between refreshes. More...

double	mLastRealTimeFactor
	The RTF that was achieved in the last refresh cycle. More...

double	mLowestRealTimeFactor
	The lowest RTF that has been achieved. More...

double	mHighestRealTimeFactor
	The highest RTF that has been achieved. More...

NodeMap	mFrameToNode
	Map from Frame pointers to FrameNode pointers. More...

std::shared_ptr< dart::simulation::World >	mWorld
	The World that this WorldNode is associated with. More...

bool	mSimulating
	True iff simulation is active. More...

std::size_t	mNumStepsPerCycle
	Number of steps to take between rendering cycles. More...

Viewer *	mViewer
	Viewer that this WorldNode is inside of. More...

::osg::ref_ptr<::osg::Group >	mNormalGroup
	OSG group for non-shadowed objects. More...

::osg::ref_ptr<::osgShadow::ShadowedScene >	mShadowedGroup
	OSG group for shadowed objects. More...

bool	mShadowed
	Whether the shadows are enabled. More...

Member Typedef Documentation

◆ NodeMap

using dart::gui::osg::WorldNode::NodeMap = std:: unordered_map<dart::dynamics::Frame*, ::osg::ref_ptr<ShapeFrameNode> >

protectedinherited

Constructor & Destructor Documentation

◆ RealTimeWorldNode()

dart::gui::osg::RealTimeWorldNode::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`
	)

Construct a world node that will attempt to run a simulation with close to real-time playback.

If a simulation is too computationally expensive, the simulation might not be able to keep up with real time.

Parameters

[in]	world	The world to simulate
[in]	targetFrequency	The expected refresh rate. The actual refresh rate may depend on your monitor and your computer's display settings.
[in]	targetRealTimeFactor	This factor at which the simulation should run. A value of 1.0 (default) means it will try to run at real time. A value 2.0 means the simulation will try to run at double real time speed (fast-forward). A value of 0.5 means the simulation will try to run at half of real-time speed (slowed down).
[in]	shadower	The shading technique to use when rendering this world.

Member Function Documentation

◆ clearChildUtilizationFlags()

void dart::gui::osg::WorldNode::clearChildUtilizationFlags ( )

protectedinherited

Clear the utilization flags of each child node.

◆ clearUnusedNodes()

void dart::gui::osg::WorldNode::clearUnusedNodes ( )

protectedinherited

Clear any nodes whose utilization flags were not triggered on this render cycle.

◆ createDefaultShadowTechnique()

osg::ref_ptr< osgShadow::ShadowTechnique > dart::gui::osg::WorldNode::createDefaultShadowTechnique ( const Viewer * viewer )

inherited

Helper function to create a default ShadowTechnique given a Viewer the default ShadowTechnique is ShadowMap.

◆ customPostRefresh()

void dart::gui::osg::WorldNode::customPostRefresh ( )

virtualinherited

If update() is not overloaded, this function will be called at the end of each rendering cycle.

This function can be overloaded to customize the behavior of each update. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation.

◆ customPostStep()

void dart::gui::osg::WorldNode::customPostStep ( )

virtualinherited

If update() is not overloaded, this function will be called at the end of each simulation step.

This function can be overloaded to customize the behavior of each step. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation. This will not get called if the simulation is paused.

◆ customPreRefresh()

void dart::gui::osg::WorldNode::customPreRefresh ( )

virtualinherited

If update() is not overloaded, this function will be called at the beginning of each rendering cycle.

This function can be overloaded to customize the behavior of each update. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation.

◆ customPreStep()

void dart::gui::osg::WorldNode::customPreStep ( )

virtualinherited

If update() is not overloaded, this function will be called at the beginning of each simulation step.

This function can be overloaded to customize the behavior of each step. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation. This will not get called if the simulation is paused.

◆ getHighestRealTimeFactor()

double dart::gui::osg::RealTimeWorldNode::getHighestRealTimeFactor ( ) const

Get the highest real time factor that has been hit during the simulation.

◆ getLastRealTimeFactor()

double dart::gui::osg::RealTimeWorldNode::getLastRealTimeFactor ( ) const

Get the real time factor that was achieved in the last refresh cycle.

This may be smaller than target real time factor, because the simulation may not have had time to reach it.

◆ getLowestRealTimeFactor()

double dart::gui::osg::RealTimeWorldNode::getLowestRealTimeFactor ( ) const

Get the lowest real time factor that has been hit during the simulation.

◆ getNumStepsPerCycle()

std::size_t dart::gui::osg::WorldNode::getNumStepsPerCycle ( ) const

inherited

Get the number of steps that will be taken between each render cycle (only if the simulation is not paused)

◆ getShadowTechnique()

osg::ref_ptr< osgShadow::ShadowTechnique > dart::gui::osg::WorldNode::getShadowTechnique ( ) const

inherited

Get the current ShadowTechnique nullptr is there are no shadows.

◆ getTargetFrequency()

double dart::gui::osg::RealTimeWorldNode::getTargetFrequency ( ) const

Get the target refresh rate frequency.

◆ getTargetRealTimeFactor()

double dart::gui::osg::RealTimeWorldNode::getTargetRealTimeFactor ( ) const

Get the target real time factor.

◆ getWorld()

std::shared_ptr< dart::simulation::World > dart::gui::osg::WorldNode::getWorld ( ) const

inherited

Get the World that this WorldNode is associated with.

◆ isShadowed()

bool dart::gui::osg::WorldNode::isShadowed ( ) const

inherited

Get whether the WorldNode is casting shadows.

◆ isSimulating()

bool dart::gui::osg::WorldNode::isSimulating ( ) const

inherited

Returns true iff the WorldNode is stepping between render cycles.

◆ refresh()

void dart::gui::osg::RealTimeWorldNode::refresh ( )

overridevirtual

This function is called at the beginning of each rendering cycle.

It updates the tree of Frames and Entities that need to be rendered. It may also take a simulation step if the simulation is not paused.

If you want to customize what happens at the beginning of each rendering cycle, you can either overload this function, or you can overload customUpdate(). This update() function will automatically call customUpdate() at the beginning of each rendering cycle. By default, customUpdate() does nothing.

Reimplemented from dart::gui::osg::WorldNode.

◆ refreshBaseFrameNode()

void dart::gui::osg::WorldNode::refreshBaseFrameNode ( dart::dynamics::Frame * frame )

protectedinherited

◆ refreshShapeFrameNode()

void dart::gui::osg::WorldNode::refreshShapeFrameNode ( dart::dynamics::Frame * frame )

protectedinherited

◆ refreshSimpleFrames()

void dart::gui::osg::WorldNode::refreshSimpleFrames ( )

protectedinherited

Refresh all the custom Frame rendering data.

◆ refreshSkeletons()

void dart::gui::osg::WorldNode::refreshSkeletons ( )

protectedinherited

Refresh all the Skeleton rendering data.

◆ setNumStepsPerCycle()

void dart::gui::osg::WorldNode::setNumStepsPerCycle ( std::size_t steps )

inherited

Set the number of steps to take between each render cycle (only if the simulation is not paused)

◆ setShadowTechnique()

void dart::gui::osg::WorldNode::setShadowTechnique ( ::osg::ref_ptr< osgShadow::ShadowTechnique > shadowTechnique = nullptr )

inherited

Set the ShadowTechnique If you wish to disable shadows, pass a nullptr.

◆ setTargetFrequency()

void dart::gui::osg::RealTimeWorldNode::setTargetFrequency ( double targetFrequency )

Set the target refresh rate frequency.

◆ setTargetRealTimeFactor()

void dart::gui::osg::RealTimeWorldNode::setTargetRealTimeFactor ( double targetRTF )

Set the target real time factor.

◆ setupViewer()

void dart::gui::osg::WorldNode::setupViewer ( )

protectedvirtualinherited

Called when this world gets added to an dart::gui::osg::Viewer.

Override this function to customize the way your WorldNode starts up in an dart::gui::osg::Viewer. Default behavior does nothing.

◆ setWorld()

void dart::gui::osg::WorldNode::setWorld ( std::shared_ptr< dart::simulation::World > newWorld )

inherited

Set the World that this WorldNode is associated with.

◆ simulate()

void dart::gui::osg::WorldNode::simulate ( bool on )

Protected Types

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ NodeMap

Constructor & Destructor Documentation

◆ RealTimeWorldNode()

Member Function Documentation

◆ clearChildUtilizationFlags()

◆ clearUnusedNodes()

◆ createDefaultShadowTechnique()

◆ customPostRefresh()

◆ customPostStep()

◆ customPreRefresh()

◆ customPreStep()

◆ getHighestRealTimeFactor()

◆ getLastRealTimeFactor()

◆ getLowestRealTimeFactor()

◆ getNumStepsPerCycle()

◆ getShadowTechnique()

◆ getTargetFrequency()

◆ getTargetRealTimeFactor()

◆ getWorld()

◆ isShadowed()

◆ isSimulating()

◆ refresh()

◆ refreshBaseFrameNode()

◆ refreshShapeFrameNode()

◆ refreshSimpleFrames()

◆ refreshSkeletons()

◆ setNumStepsPerCycle()

◆ setShadowTechnique()

◆ setTargetFrequency()

◆ setTargetRealTimeFactor()

◆ setupViewer()

◆ setWorld()

◆ simulate()

Member Data Documentation

◆ mFirstRefresh

◆ mFrameToNode

◆ mHighestRealTimeFactor

◆ mLastRealTimeFactor

◆ mLowestRealTimeFactor

◆ mNormalGroup

◆ mNumStepsPerCycle

◆ mRefreshTimer

◆ mShadowed

◆ mShadowedGroup

◆ mSimulating

◆ mTargetRealTimeLapse

◆ mTargetSimTimeLapse

◆ mViewer

◆ mWorld