#include <SimWindow.hpp>

Inheritance diagram for dart::gui::glut::SimWindow:

Public Member Functions
	SimWindow ()

virtual	~SimWindow ()

virtual void	timeStepping ()

virtual void	drawWorld () const

virtual void	drawSkeletons () const

virtual void	drawSkels ()

virtual void	drawEntities ()

void	displayTimer (int _val) override

void	draw () override

void	keyboard (unsigned char _key, int _x, int _y) override

void	setWorld (dart::simulation::WorldPtr _world)

void	saveWorld ()
	Save world in 'tempWorld.txt'.

void	plot (Eigen::VectorXd &_data)
	Plot _data in a 2D window.

void	initWindow (int _w, int _h, const char *_name) override

void	resize (int _w, int _h) override

void	render () override

void	click (int _button, int _state, int _x, int _y) override

void	drag (int _x, int _y) override

virtual void	initGL ()

virtual void	initLights ()

Static Public Member Functions
static void	reshape (int _w, int _h)

static void	keyEvent (unsigned char _key, int _x, int _y)

static void	specKeyEvent (int _key, int _x, int _y)

static void	mouseClick (int _button, int _state, int _x, int _y)

static void	mouseDrag (int _x, int _y)

static void	mouseMove (int _x, int _y)

static void	refresh ()

static void	refreshTimer (int _val)

static void	runTimer (int _val)

static Window *	current ()

Static Public Attributes
static std::vector< Window * >	mWindows

static std::vector< int >	mWinIDs

Protected Member Functions
virtual void	drawSkeleton (const dynamics::Skeleton *skeleton, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const

virtual void	drawEntity (const dynamics::Entity *entity, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const

virtual void	drawBodyNode (const dynamics::BodyNode *bodyNode, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true, bool recursive=false) const

virtual void	drawShapeFrame (const dynamics::ShapeFrame *shapeFrame, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const

virtual void	drawShape (const dynamics::Shape *shape, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5)) const

virtual void	drawPointMasses (const std::vector< dynamics::PointMass * > pointMasses, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const

virtual void	drawMarker (const dynamics::Marker *marker, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const

virtual void	specKey (int _key, int _x, int _y)

virtual void	move (int _x, int _y)

virtual void	simTimer (int _val)

virtual bool	screenshot ()

Protected Attributes
simulation::WorldPtr	mWorld

int	mPlayFrame

bool	mPlay

bool	mSimulating

bool	mShowPointMasses
	If true, render point masses of soft bodies.

bool	mShowMarkers
	If true, render markers.

std::vector< GraphWindow * >	mGraphWindows
	Array of graph windows.

Trackball	mTrackBall

Eigen::Vector3d	mTrans

Eigen::Vector3d	mEye

Eigen::Vector3d	mUp

float	mZoom

float	mPersp

bool	mRotate

bool	mTranslate

bool	mZooming

int	mWinWidth

int	mWinHeight

int	mMouseX

int	mMouseY

double	mDisplayTimeout

bool	mMouseDown

bool	mMouseDrag

bool	mCapture

double	mBackground [4]

gui::RenderInterface *	mRI

std::vector< unsigned char >	mScreenshotTemp

std::vector< unsigned char >	mScreenshotTemp2

Constructor & Destructor Documentation

◆ SimWindow()

dart::gui::glut::SimWindow::SimWindow ( )

◆ ~SimWindow()

dart::gui::glut::SimWindow::~SimWindow ( )

virtual

Member Function Documentation

◆ click()

void dart::gui::glut::Win3D::click	(	int	_button,
		int	_state,
		int	_x,
		int	_y
	)

overridevirtualinherited

Reimplemented from dart::gui::glut::Window.

◆ current()

Window * dart::gui::glut::Window::current ( )

inlinestaticinherited

◆ displayTimer()

void dart::gui::glut::SimWindow::displayTimer ( int _val )

overridevirtual

Reimplemented from dart::gui::glut::Window.

◆ drag()

void dart::gui::glut::Win3D::drag	(	int	_x,
		int	_y
	)

overridevirtualinherited

Reimplemented from dart::gui::glut::Window.

◆ draw()

void dart::gui::glut::SimWindow::draw ( )

overridevirtual

Implements dart::gui::glut::Win3D.

◆ drawBodyNode()

void dart::gui::glut::SimWindow::drawBodyNode	(	const dynamics::BodyNode *	bodyNode,
		const Eigen::Vector4d &	color = `Eigen::Vector4d::Constant(0.5)`,
		bool	useDefaultColor = `true`,
		bool	recursive = `false`
	)		const

protectedvirtual

◆ drawEntities()

void dart::gui::glut::SimWindow::drawEntities ( )

virtual

◆ drawEntity()

void dart::gui::glut::SimWindow::drawEntity	(	const dynamics::Entity *	entity,
		const Eigen::Vector4d &	color = `Eigen::Vector4d::Constant(0.5)`,
		bool	useDefaultColor = `true`
	)		const

protectedvirtual

◆ drawMarker()

void dart::gui::glut::SimWindow::drawMarker	(	const dynamics::Marker *	marker,
		const Eigen::Vector4d &	color = `Eigen::Vector4d::Constant(0.5)`,
		bool	useDefaultColor = `true`
	)		const

protectedvirtual

◆ drawPointMasses()

void dart::gui::glut::SimWindow::drawPointMasses	(	const std::vector< dynamics::PointMass * >	pointMasses,
		const Eigen::Vector4d &	color = `Eigen::Vector4d::Constant(0.5)`,
		bool	useDefaultColor = `true`
	)		const

protectedvirtual

◆ drawShape()

void dart::gui::glut::SimWindow::drawShape	(	const dynamics::Shape *	shape,
		const Eigen::Vector4d &	color = `Eigen::Vector4d::Constant(0.5)`
	)		const

protectedvirtual

◆ drawShapeFrame()

void dart::gui::glut::SimWindow::drawShapeFrame	(	const dynamics::ShapeFrame *	shapeFrame,
		const Eigen::Vector4d &	color = `Eigen::Vector4d::Constant(0.5)`,
		bool	useDefaultColor = `true`
	)		const

protectedvirtual

◆ drawSkeleton()

void dart::gui::glut::SimWindow::drawSkeleton	(	const dynamics::Skeleton *	skeleton,
		const Eigen::Vector4d &	color = `Eigen::Vector4d::Constant(0.5)`,
		bool	useDefaultColor = `true`
	)		const

protectedvirtual

◆ drawSkeletons()

void dart::gui::glut::SimWindow::drawSkeletons ( ) const

virtual

◆ drawSkels()

void dart::gui::glut::SimWindow::drawSkels ( )

virtual

◆ drawWorld()

void dart::gui::glut::SimWindow::drawWorld ( ) const

virtual

◆ initGL()

void dart::gui::glut::Win3D::initGL ( )

virtualinherited

◆ initLights()

void dart::gui::glut::Win3D::initLights ( )

virtualinherited

◆ initWindow()

void dart::gui::glut::Win3D::initWindow	(	int	_w,
		int	_h,
		const char *	_name
	)

overridevirtualinherited

Warning: This function should be called once.

Reimplemented from dart::gui::glut::Window.

◆ keyboard()

void dart::gui::glut::SimWindow::keyboard	(	unsigned char	_key,
		int	_x,
		int	_y
	)

overridevirtual

Reimplemented from dart::gui::glut::Window.

Reimplemented in dart::gui::glut::SoftSimWindow.

◆ keyEvent()

void dart::gui::glut::Window::keyEvent	(	unsigned char	_key,
		int	_x,
		int	_y
	)

staticinherited

◆ mouseClick()

void dart::gui::glut::Window::mouseClick	(	int	_button,
		int	_state,
		int	_x,
		int	_y
	)

staticinherited

◆ mouseDrag()

void dart::gui::glut::Window::mouseDrag	(	int	_x,
		int	_y
	)

staticinherited

◆ mouseMove()

void dart::gui::glut::Window::mouseMove	(	int	_x,
		int	_y
	)

staticinherited

◆ move()

void dart::gui::glut::Window::move	(	int	_x,
		int	_y
	)

protectedvirtualinherited

◆ plot()

void dart::gui::glut::SimWindow::plot ( Eigen::VectorXd & _data )

Plot _data in a 2D window.

◆ refresh()

void dart::gui::glut::Window::refresh ( )

staticinherited

◆ refreshTimer()

void dart::gui::glut::Window::refreshTimer ( int _val )

staticinherited

◆ render()

void dart::gui::glut::Win3D::render ( )

overridevirtualinherited

Implements dart::gui::glut::Window.

◆ reshape()

void dart::gui::glut::Window::reshape	(	int	_w,
		int	_h
	)

staticinherited

◆ resize()

void dart::gui::glut::Win3D::resize	(	int	_w,
		int	_h
	)

overridevirtualinherited

Implements dart::gui::glut::Window.

◆ runTimer()

void dart::gui::glut::Window::runTimer ( int _val )

staticinherited

◆ saveWorld()

void dart::gui::glut::SimWindow::saveWorld ( )

Save world in 'tempWorld.txt'.

◆ screenshot()

bool dart::gui::glut::Window::screenshot ( )

protectedvirtualinherited

◆ setWorld()

void dart::gui::glut::SimWindow::setWorld ( dart::simulation::WorldPtr _world )

◆ simTimer()

void dart::gui::glut::Window::simTimer ( int _val )

protectedvirtualinherited

◆ specKey()

void dart::gui::glut::Window::specKey	(	int	_key,
		int	_x,
		int	_y
	)

protectedvirtualinherited

◆ specKeyEvent()

void dart::gui::glut::Window::specKeyEvent	(	int	_key,
		int	_x,
		int	_y
	)

staticinherited

◆ timeStepping()

void dart::gui::glut::SimWindow::timeStepping ( )

virtual

Member Data Documentation

◆ mBackground

double dart::gui::glut::Window::mBackground[4]

protectedinherited

◆ mCapture

bool dart::gui::glut::Window::mCapture

protectedinherited

◆ mDisplayTimeout

double dart::gui::glut::Window::mDisplayTimeout

protectedinherited

◆ mEye

Eigen::Vector3d dart::gui::glut::Win3D::mEye

protectedinherited

◆ mGraphWindows

std::vector<GraphWindow*> dart::gui::glut::SimWindow::mGraphWindows

protected

Array of graph windows.

◆ mMouseDown

bool dart::gui::glut::Window::mMouseDown

protectedinherited

◆ mMouseDrag

bool dart::gui::glut::Window::mMouseDrag

protectedinherited

◆ mMouseX

int dart::gui::glut::Window::mMouseX

protectedinherited

◆ mMouseY

int dart::gui::glut::Window::mMouseY

protectedinherited

◆ mPersp

float dart::gui::glut::Win3D::mPersp

protectedinherited

◆ mPlay

bool dart::gui::glut::SimWindow::mPlay

protected

◆ mPlayFrame

int dart::gui::glut::SimWindow::mPlayFrame

protected

◆ mRI

gui::RenderInterface* dart::gui::glut::Window::mRI

protectedinherited

◆ mRotate

bool dart::gui::glut::Win3D::mRotate

protectedinherited

◆ mScreenshotTemp

std::vector<unsigned char> dart::gui::glut::Window::mScreenshotTemp

protectedinherited

◆ mScreenshotTemp2

std::vector<unsigned char> dart::gui::glut::Window::mScreenshotTemp2

protectedinherited

◆ mShowMarkers

bool dart::gui::glut::SimWindow::mShowMarkers

protected

If true, render markers.

◆ mShowPointMasses

bool dart::gui::glut::SimWindow::mShowPointMasses

protected

If true, render point masses of soft bodies.

◆ mSimulating

bool dart::gui::glut::SimWindow::mSimulating

protected

◆ mTrackBall

Trackball dart::gui::glut::Win3D::mTrackBall

protectedinherited

◆ mTrans

Eigen::Vector3d dart::gui::glut::Win3D::mTrans

protectedinherited

◆ mTranslate

bool dart::gui::glut::Win3D::mTranslate

protectedinherited

◆ mUp

Eigen::Vector3d dart::gui::glut::Win3D::mUp

protectedinherited

◆ mWindows

std::vector< Window * > dart::gui::glut::Window::mWindows

staticinherited

◆ mWinHeight

int dart::gui::glut::Window::mWinHeight

protectedinherited

◆ mWinIDs

std::vector< int > dart::gui::glut::Window::mWinIDs

staticinherited

◆ mWinWidth

int dart::gui::glut::Window::mWinWidth

protectedinherited

◆ mWorld

simulation::WorldPtr dart::gui::glut::SimWindow::mWorld

protected

◆ mZoom

float dart::gui::glut::Win3D::mZoom

protectedinherited

◆ mZooming

bool dart::gui::glut::Win3D::mZooming

protectedinherited

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ SimWindow()

◆ ~SimWindow()

Member Function Documentation

◆ click()

◆ current()

◆ displayTimer()

◆ drag()

◆ draw()

◆ drawBodyNode()

◆ drawEntities()

◆ drawEntity()

◆ drawMarker()

◆ drawPointMasses()

◆ drawShape()

◆ drawShapeFrame()

◆ drawSkeleton()

◆ drawSkeletons()

◆ drawSkels()

◆ drawWorld()

◆ initGL()

◆ initLights()

◆ initWindow()

◆ keyboard()

◆ keyEvent()

◆ mouseClick()

◆ mouseDrag()

◆ mouseMove()

◆ move()

◆ plot()

◆ refresh()

◆ refreshTimer()

◆ render()

◆ reshape()

◆ resize()

◆ runTimer()

◆ saveWorld()

◆ screenshot()

◆ setWorld()

◆ simTimer()

◆ specKey()

◆ specKeyEvent()

◆ timeStepping()

Member Data Documentation

◆ mBackground

◆ mCapture

◆ mDisplayTimeout

◆ mEye

◆ mGraphWindows

◆ mMouseDown

◆ mMouseDrag

◆ mMouseX

◆ mMouseY

◆ mPersp

◆ mPlay

◆ mPlayFrame

◆ mRI

◆ mRotate

◆ mScreenshotTemp

◆ mScreenshotTemp2

◆ mShowMarkers

◆ mShowPointMasses

◆ mSimulating

◆ mTrackBall

◆ mTrans

◆ mTranslate

◆ mUp

◆ mWindows

◆ mWinHeight

◆ mWinIDs

◆ mWinWidth

◆ mWorld

◆ mZoom

◆ mZooming