SupportPolygonVisual.hpp

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#ifndef DART_GUI_OSG_SUPPORTPOLYGONVISUAL_HPP_
#define DART_GUI_OSG_SUPPORTPOLYGONVISUAL_HPP_
 
#include <osg/Geode>
 
#include "dart/dynamics/SmartPointer.hpp"
 
#include "dart/gui/osg/ShapeFrameNode.hpp"
#include "dart/gui/osg/Viewer.hpp"
 
namespace dart {
namespace gui {
namespace osg {
 
class SupportPolygonVisual : public ViewerAttachment
{
public:
  SupportPolygonVisual(
      const dart::dynamics::SkeletonPtr& skeleton = nullptr,
      double elevation = 0.02);
 
  SupportPolygonVisual(
      const dart::dynamics::SkeletonPtr& skeleton,
      std::size_t treeIndex,
      double elevation = 0.02);
 
  void setSkeleton(const dart::dynamics::SkeletonPtr& skeleton);
 
  dart::dynamics::SkeletonPtr getSkeleton() const;
 
  void visualizeWholeSkeleton();
 
  void visualizeTree(std::size_t treeIndex);
 
  void setDisplayElevation(double elevation);
 
  double getDisplayElevation() const;
 
  void displayPolygon(bool display);
 
  bool isPolygonDisplayed() const;
 
  void setPolygonColor(const Eigen::Vector4d& color);
 
  Eigen::Vector4d getPolygonColor() const;
 
  void displayCentroid(bool display);
 
  bool isCentroidDisplayed() const;
 
  void setCentroidRadius(double radius);
 
  double getCentroidRadius() const;
 
  void displayCenterOfMass(bool display);
 
  bool isCenterOfMassDisplayed() const;
 
  void setCenterOfMassRadius(double radius);
 
  double getCenterOfMassRadius() const;
 
  void setValidCOMColor(const Eigen::Vector4d& color);
 
  const Eigen::Vector4d& getValidCOMColor() const;
 
  void setInvalidCOMColor(const Eigen::Vector4d& color);
 
  const Eigen::Vector4d& getInvalidCOMColor() const;
 
  void refresh() override final;
 
protected:
  void initialize();
 
  dart::dynamics::WeakSkeletonPtr mSkeleton;
 
  std::size_t mTreeIndex;
 
  double mElevation;
 
  bool mDisplayPolygon;
 
  bool mDisplayCentroid;
 
  dart::dynamics::SimpleFramePtr mCentroid;
 
  double mCentroidRadius;
 
  bool mDisplayCOM;
 
  dart::dynamics::SimpleFramePtr mCom;
 
  double mComRadius;
 
  Eigen::Vector4d mValidColor;
 
  Eigen::Vector4d mInvalidColor;
 
  ::osg::ref_ptr<::osg::Vec4Array> mPolygonColor;
 
  ::osg::ref_ptr<::osg::Geode> mPolygonGeode;
 
  ::osg::ref_ptr<::osg::Geometry> mPolygonGeom;
 
  ::osg::ref_ptr<::osg::Vec3Array> mVertices;
 
  ::osg::ref_ptr<::osg::DrawElementsUShort> mFaces;
 
  ::osg::ref_ptr<ShapeFrameNode> mCentroidNode;
 
  ::osg::ref_ptr<ShapeFrameNode> mComNode;
};
 
} // namespace osg
} // namespace gui
} // namespace dart
 
#endif // DART_GUI_OSG_SUPPORTPOLYGONVISUAL_HPP_