SimWindow.hpp

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/*
 * Copyright (c) 2011-2018, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * This code incorporates portions of Open Dynamics Engine
 *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
 *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
 *     Garage, Inc. All rights reserved.), which were released under
 *     the same BSD license as below
 *
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
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 */
 
#ifndef DART_GUI_SIMWINDOW_HPP_
#define DART_GUI_SIMWINDOW_HPP_
 
#include <vector>
 
#include <Eigen/Dense>
 
#include "dart/common/Deprecated.hpp"
#include "dart/gui/Win3D.hpp"
#include "dart/simulation/World.hpp"
 
namespace dart {
namespace gui {
 
class GraphWindow;
 
class SimWindow : public Win3D {
public:
  SimWindow();
 
  virtual ~SimWindow();
 
  virtual void timeStepping();
 
  virtual void drawWorld() const;
 
  virtual void drawSkeletons() const;
 
  DART_DEPRECATED(6.0)
  virtual void drawSkels();
 
  DART_DEPRECATED(6.0)
  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();
 
  void plot(Eigen::VectorXd& _data);
//  bool isSimulating() const { return mSimulating; }
 
//  void setSimulatingFlag(int _flag) { mSimulating = _flag; }
 
protected:
 
  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;
 
  simulation::WorldPtr mWorld;
 
  int mPlayFrame;
 
  bool mPlay;
 
  bool mSimulating;
 
  bool mShowPointMasses;
 
  bool mShowMarkers;
 
  std::vector<GraphWindow*> mGraphWindows;
};
 
}  // namespace gui
}  // namespace dart
 
#endif  // DART_GUI_SIMWINDOW_HPP_