DART  6.6.2
ShapeNode.hpp
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32 
33 #ifndef DART_GUI_OSG_RENDER_SHAPEGEODE_HPP_
34 #define DART_GUI_OSG_RENDER_SHAPEGEODE_HPP_
35 
36 #include <memory>
37 #include <osg/Node>
38 
39 namespace dart {
40 
41 namespace dynamics {
42 class Shape;
43 class ShapeFrame;
44 class SimpleFrame;
45 class VisualAspect;
46 } // namespace dynamics
47 
48 namespace gui {
49 namespace osg {
50 
51 class Node;
52 class Group;
53 class EntityNode;
54 class ShapeFrameNode;
55 
56 namespace render {
57 
58 class ShapeNode
59 {
60 public:
61 
62  ShapeNode(std::shared_ptr<dart::dynamics::Shape> shape,
63  ShapeFrameNode* parentNode,
64  ::osg::Node* node);
65 
66  virtual ~ShapeNode();
67 
69  const std::shared_ptr<dart::dynamics::Shape>& getShape() const;
70 
72 
74 
76 
78  ::osg::Node* getNode();
79 
81  const ::osg::Node* getNode() const;
82 
85 
88 
90  virtual void refresh() = 0;
91 
93  bool wasUtilized() const;
94 
96  void clearUtilization();
97 
98 protected:
100  const std::shared_ptr<dart::dynamics::Shape> mShape;
101 
104 
107 
110 
112  ::osg::Node* mNode;
113 
117  bool mUtilized;
118 
119 };
120 
121 } // namespace render
122 } // namespace osg
123 } // namespace gui
124 } // namespace dart
125 
126 #endif // DART_GUI_OSG_RENDER_SHAPEGEODE_HPP_
Definition: ShapeFrame.hpp:164
Definition: ShapeFrame.hpp:55
Definition: ShapeFrameNode.hpp:58
Definition: ShapeNode.hpp:59
virtual ~ShapeNode()
Definition: ShapeNode.cpp:56
dart::dynamics::VisualAspect * getVisualAspect()
Definition: ShapeNode.cpp:74
ShapeFrameNode * getParentShapeFrameNode()
Pointer to the parent EntityNode of this ShapeNode.
Definition: ShapeNode.cpp:98
const dart::dynamics::ShapeFrame * getShapeFrame() const
Definition: ShapeNode.cpp:68
const std::shared_ptr< dart::dynamics::Shape > mShape
Pointer to the Shape associated with this ShapeNode.
Definition: ShapeNode.hpp:100
ShapeFrameNode * mParentShapeFrameNode
Pointer to the parent ShapeFrameNode of this ShapeNode.
Definition: ShapeNode.hpp:109
dart::dynamics::VisualAspect * mVisualAspect
Pointer to the VisualAspect associated with this ShapeNode.
Definition: ShapeNode.hpp:106
bool wasUtilized() const
True iff this ShapeNode has been utilized on the latest update.
Definition: ShapeNode.cpp:110
const std::shared_ptr< dart::dynamics::Shape > & getShape() const
Pointer to the Shape associated with this ShapeNode.
Definition: ShapeNode.cpp:62
::osg::Node * mNode
Should generally be equal to 'this'.
Definition: ShapeNode.hpp:112
ShapeNode(std::shared_ptr< dart::dynamics::Shape > shape, ShapeFrameNode *parentNode, ::osg::Node *node)
Definition: ShapeNode.cpp:42
virtual void refresh()=0
Update all rendering data for this ShapeNode.
::osg::Node * getNode()
Cast this ShapeNode into an osg::Node.
Definition: ShapeNode.cpp:86
void clearUtilization()
Set mUtilized to false.
Definition: ShapeNode.cpp:116
bool mUtilized
True iff this ShapeNode has been utilized on the latest update.
Definition: ShapeNode.hpp:117
dart::dynamics::ShapeFrame * mShapeFrame
Pointer to the SimpleFrame associated with this ShapeNode.
Definition: ShapeNode.hpp:103
Definition: BulletCollisionDetector.cpp:63