WorldNode.hpp

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#ifndef DART_GUI_OSG_WORLDNODE_HPP_
#define DART_GUI_OSG_WORLDNODE_HPP_
 
#include <memory>
#include <unordered_map>
 
#include <osg/Group>
#include <osgShadow/ShadowTechnique>
 
#include "dart/gui/osg/Viewer.hpp"
 
namespace dart {
 
namespace simulation {
class World;
} // namespace simulation
 
namespace dynamics {
class Frame;
class Entity;
class ShapeFrame;
} // namespace dynamics
 
namespace gui {
namespace osg {
 
class FrameNode;
class ShapeFrameNode;
class EntityNode;
class Viewer;
 
class WorldNode : public ::osg::Group
{
public:
  friend class Viewer;
 
  explicit WorldNode(
      std::shared_ptr<dart::simulation::World> world = nullptr,
      ::osg::ref_ptr<osgShadow::ShadowTechnique> shadowTechnique = nullptr);
 
  void setWorld(std::shared_ptr<dart::simulation::World> newWorld);
 
  std::shared_ptr<dart::simulation::World> getWorld() const;
 
  virtual void refresh();
 
  virtual void customPreRefresh();
 
  virtual void customPostRefresh();
 
  virtual void customPreStep();
 
  virtual void customPostStep();
 
  bool isSimulating() const;
 
  void simulate(bool on);
 
  void setNumStepsPerCycle(std::size_t steps);
 
  std::size_t getNumStepsPerCycle() const;
 
  bool isShadowed() const;
 
  void setShadowTechnique(
      ::osg::ref_ptr<osgShadow::ShadowTechnique> shadowTechnique = nullptr);
 
  ::osg::ref_ptr<osgShadow::ShadowTechnique> getShadowTechnique() const;
 
  static ::osg::ref_ptr<osgShadow::ShadowTechnique>
  createDefaultShadowTechnique(const Viewer* viewer);
 
  virtual ~WorldNode();
 
protected:
  virtual void setupViewer();
 
  void clearChildUtilizationFlags();
 
  void clearUnusedNodes();
 
  void refreshSkeletons();
 
  void refreshSimpleFrames();
 
  void refreshBaseFrameNode(dart::dynamics::Frame* frame);
 
  void refreshShapeFrameNode(dart::dynamics::Frame* frame);
 
  using NodeMap = std::
      unordered_map<dart::dynamics::Frame*, ::osg::ref_ptr<ShapeFrameNode>>;
 
  NodeMap mFrameToNode;
 
  std::shared_ptr<dart::simulation::World> mWorld;
 
  bool mSimulating;
 
  std::size_t mNumStepsPerCycle;
 
  Viewer* mViewer;
 
  ::osg::ref_ptr<::osg::Group> mNormalGroup;
 
  ::osg::ref_ptr<::osgShadow::ShadowedScene> mShadowedGroup;
 
  bool mShadowed;
};
 
} // namespace osg
} // namespace gui
} // namespace dart
 
#endif // DART_GUI_OSG_WORLDNODE_HPP_