DART  6.10.1
ShapeFrameNode.hpp
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32 
33 #ifndef DART_GUI_OSG_SHAPEFRAMENODE_HPP_
34 #define DART_GUI_OSG_SHAPEFRAMENODE_HPP_
35 
36 #include <map>
37 #include <memory>
38 
39 #include <osg/MatrixTransform>
40 
41 #include "dart/config.hpp"
43 
44 namespace dart {
45 namespace dynamics {
46 class ShapeFrame;
47 class Entity;
48 class Shape;
49 } // namespace dynamics
50 
51 namespace gui {
52 namespace osg {
53 
54 namespace render {
55 class ShapeNode;
56 } // namespace render
57 
58 class WorldNode;
59 
60 class ShapeFrameNode : public ::osg::MatrixTransform
61 {
62 public:
66 
68  dart::dynamics::ShapeFrame* getShapeFrame(bool checkUtilization = false);
69 
72  bool checkUtilization = false) const;
73 
75 
76  const WorldNode* getWorldNode() const;
77 
83  void refresh(bool shortCircuitIfUtilized = false);
84 
86  bool wasUtilized() const;
87 
89  void clearUtilization();
90 
91 protected:
92  virtual ~ShapeFrameNode();
93 
94  void refreshShapeNode(const std::shared_ptr<dart::dynamics::Shape>& shape);
95 
96  void createShapeNode(const std::shared_ptr<dart::dynamics::Shape>& shape);
97 
100 
103 
105 
109  bool mUtilized;
110 };
111 
112 } // namespace osg
113 } // namespace gui
114 } // namespace dart
115 
116 #endif // DART_GUI_OSG_SHAPEFRAMENODE_HPP_
Definition: ShapeFrame.hpp:192
Definition: ShapeFrameNode.hpp:61
void refresh(bool shortCircuitIfUtilized=false)
Update all rendering data for this ShapeFrame.
Definition: ShapeFrameNode.cpp:139
ShapeFrameNode(dart::dynamics::ShapeFrame *frame, WorldNode *worldNode)
Create a ShapeFrameNode.
Definition: ShapeFrameNode.cpp:86
WorldNode * mWorldNode
Pointer to the WorldNode that this ShapeFrameNode belongs to.
Definition: ShapeFrameNode.hpp:102
dart::dynamics::ShapeFrame * mShapeFrame
Pointer to the ShapeFrame that this ShapeFrameNode is associated with.
Definition: ShapeFrameNode.hpp:99
void createShapeNode(const std::shared_ptr< dart::dynamics::Shape > &shape)
Definition: ShapeFrameNode.cpp:206
void clearUtilization()
Set mUtilized to false.
Definition: ShapeFrameNode.cpp:170
bool mUtilized
True iff this ShapeFrameNode has been utilized on the latest update.
Definition: ShapeFrameNode.hpp:109
WorldNode * getWorldNode()
Definition: ShapeFrameNode.cpp:127
bool wasUtilized() const
True iff this ShapeFrameNode has been utilized on the latest update.
Definition: ShapeFrameNode.cpp:164
render::ShapeNode * mRenderShapeNode
Definition: ShapeFrameNode.hpp:104
void refreshShapeNode(const std::shared_ptr< dart::dynamics::Shape > &shape)
Definition: ShapeFrameNode.cpp:182
virtual ~ShapeFrameNode()
Definition: ShapeFrameNode.cpp:176
dart::dynamics::ShapeFrame * getShapeFrame(bool checkUtilization=false)
Pointer to the ShapeFrame associated with this ShapeFrameNode.
Definition: ShapeFrameNode.cpp:98
WorldNode class encapsulates a World to be displayed in OpenSceneGraph.
Definition: WorldNode.hpp:65
Definition: ShapeNode.hpp:59
Definition: BulletCollisionDetector.cpp:65