DART  6.6.2
ShapeFrameNode.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2018, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_GUI_OSG_SHAPEFRAMENODE_HPP_
34 #define DART_GUI_OSG_SHAPEFRAMENODE_HPP_
35 
36 #include <map>
37 #include <memory>
38 #include <osg/MatrixTransform>
40 
41 namespace dart {
42 namespace dynamics {
43 class ShapeFrame;
44 class Entity;
45 class Shape;
46 } // namespace dynamics
47 
48 namespace gui {
49 namespace osg {
50 
51 namespace render {
52 class ShapeNode;
53 } // namespace render
54 
55 class WorldNode;
56 
57 class ShapeFrameNode : public ::osg::MatrixTransform
58 {
59 public:
60 
64  WorldNode* worldNode);
65 
68 
71 
73 
74  const WorldNode* getWorldNode() const;
75 
81  void refresh(bool shortCircuitIfUtilized = false);
82 
84  bool wasUtilized() const;
85 
87  void clearUtilization();
88 
89 protected:
90 
91  virtual ~ShapeFrameNode();
92 
93  void refreshShapeNode(const std::shared_ptr<dart::dynamics::Shape>& shape);
94 
95  void createShapeNode(const std::shared_ptr<dart::dynamics::Shape>& shape);
96 
99 
102 
104 
108  bool mUtilized;
109 
110 };
111 
112 } // namespace osg
113 } // namespace gui
114 } // namespace dart
115 
116 #endif // DART_GUI_OSG_SHAPEFRAMENODE_HPP_
Definition: ShapeFrame.hpp:164
Definition: ShapeFrameNode.hpp:58
void refresh(bool shortCircuitIfUtilized=false)
Update all rendering data for this ShapeFrame.
Definition: ShapeFrameNode.cpp:111
ShapeFrameNode(dart::dynamics::ShapeFrame *frame, WorldNode *worldNode)
Create a ShapeFrameNode.
Definition: ShapeFrameNode.cpp:74
WorldNode * mWorldNode
Pointer to the WorldNode that this ShapeFrameNode belongs to.
Definition: ShapeFrameNode.hpp:101
dart::dynamics::ShapeFrame * mShapeFrame
Pointer to the ShapeFrame that this ShapeFrameNode is associated with.
Definition: ShapeFrameNode.hpp:98
void createShapeNode(const std::shared_ptr< dart::dynamics::Shape > &shape)
Definition: ShapeFrameNode.cpp:178
void clearUtilization()
Set mUtilized to false.
Definition: ShapeFrameNode.cpp:142
bool mUtilized
True iff this ShapeFrameNode has been utilized on the latest update.
Definition: ShapeFrameNode.hpp:108
WorldNode * getWorldNode()
Definition: ShapeFrameNode.cpp:99
bool wasUtilized() const
True iff this ShapeFrameNode has been utilized on the latest update.
Definition: ShapeFrameNode.cpp:136
dart::dynamics::ShapeFrame * getShapeFrame()
Pointer to the ShapeFrame associated with this ShapeFrameNode.
Definition: ShapeFrameNode.cpp:87
render::ShapeNode * mRenderShapeNode
Definition: ShapeFrameNode.hpp:103
void refreshShapeNode(const std::shared_ptr< dart::dynamics::Shape > &shape)
Definition: ShapeFrameNode.cpp:154
virtual ~ShapeFrameNode()
Definition: ShapeFrameNode.cpp:148
WorldNode class encapsulates a World to be displayed in OpenSceneGraph.
Definition: WorldNode.hpp:65
Definition: ShapeNode.hpp:59
Definition: BulletCollisionDetector.cpp:63