DART 6.7.3
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Viewer.hpp
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32
33#ifndef DART_GUI_OSG_VIEWER_HPP_
34#define DART_GUI_OSG_VIEWER_HPP_
35
36#include <map>
37#include <unordered_set>
38#include <memory>
39
40#include <osgViewer/Viewer>
41#include <osgShadow/ShadowTechnique>
42
43#include <Eigen/Core>
44
46
47namespace dart {
48
49namespace simulation {
50class World;
51} // namespace simulation
52
53namespace dynamics {
54class Entity;
55class SimpleFrame;
56class Shape;
57class BodyNode;
58} // namespace dynamics
59
60namespace gui {
61namespace osg {
62
63class WorldNode;
64class DefaultEventHandler;
65class DragAndDrop;
66class SimpleFrameDnD;
67class SimpleFrameShapeDnD;
68class InteractiveFrame;
69class InteractiveFrameDnD;
70class BodyNodeDnD;
71class Viewer;
72class SaveScreen;
73
74class ViewerAttachment : public virtual ::osg::Group
75{
76public:
77
78 friend class Viewer;
79
82
84 virtual ~ViewerAttachment();
85
88 virtual void refresh() = 0;
89
91
92 const Viewer* getViewer() const;
93
94protected:
95
99 virtual void customAttach(Viewer* newViewer);
100
105 virtual void attach(Viewer* newViewer);
106
107
108
109private:
110
112
113};
114
115class Viewer : public osgViewer::Viewer, public dart::common::Subject
116{
117public:
120 Viewer(const ::osg::Vec4& clearColor = ::osg::Vec4(0.9,0.9,0.9,1.0));
121
123 virtual ~Viewer();
124
131 // TODO(MXG): Add a bool argument that instructs the viewer to append a date
132 // and time to the name of the file.
133 void captureScreen(const std::string& filename);
134
145 void record(const std::string& directory, const std::string& prefix = "image",
146 bool restart = false, std::size_t digits=6);
147
151 void pauseRecording();
152
154 bool isRecording() const;
155
157 virtual void switchDefaultEventHandler(bool _on);
158
161
163 virtual void switchHeadlights(bool _on);
164
166 bool checkHeadlights() const;
167
171 void addWorldNode(WorldNode* _newWorldNode, bool _active=true);
172
174 void removeWorldNode(WorldNode* _oldWorldNode);
175
177 void removeWorldNode(std::shared_ptr<dart::simulation::World> _oldWorld);
178
182 std::shared_ptr<dart::simulation::World> _world) const;
183
186 void addAttachment(ViewerAttachment* _attachment);
187
189 void removeAttachment(ViewerAttachment* _attachment);
190
192 const std::unordered_set<ViewerAttachment*>& getAttachments() const;
193
195 ::osg::Group* getLightGroup();
196
198 const ::osg::Group* getLightGroup() const;
199
203 const ::osg::ref_ptr<::osg::LightSource>& getLightSource(std::size_t index = 0) const;
204
206 void setupDefaultLights();
207
210 void setUpwardsDirection(const ::osg::Vec3& _up);
211
214 void setUpwardsDirection(const Eigen::Vector3d& _up);
215
217 void setWorldNodeActive(WorldNode* _node, bool _active=true);
218
220 void setWorldNodeActive(std::shared_ptr<dart::simulation::World> _world,
221 bool _active=true);
222
224 void simulate(bool _on);
225
227 bool isSimulating() const;
228
230 void allowSimulation(bool _allow);
231
233 bool isAllowingSimulation() const;
234
241
244
249 dart::dynamics::Shape* _shape);
250
253
256 bool _useExternalIK = true,
257 bool _useWholeBody = false);
258
262
266
270
274
278
280 const std::string& getInstructions() const;
281
285 void addInstructionText(const std::string& _instruction);
286
288 virtual void updateViewer();
289
291 void updateDragAndDrops();
292
294 const ::osg::ref_ptr<::osg::Group>& getRootGroup() const;
295
298 void setVerticalFieldOfView(double fov);
299
303 double getVerticalFieldOfView() const;
304
305protected:
306
307 friend class SaveScreen;
308
310 std::size_t mImageSequenceNum;
311
313 std::size_t mImageDigits;
314
317
320
322 std::string mImageDirectory;
323
325 std::string mImagePrefix;
326
328 std::string mScreenCapName;
329
331 ::osg::ref_ptr<DefaultEventHandler> mDefaultEventHandler;
332
334 ::osg::ref_ptr<::osg::Group> mRootGroup;
335
337 ::osg::ref_ptr<::osg::Group> mLightGroup;
338
340 ::osg::ref_ptr<::osg::Light> mLight1;
341
343 ::osg::ref_ptr<::osg::LightSource> mLightSource1;
344
346 ::osg::ref_ptr<::osg::Light> mLight2;
347
349 ::osg::ref_ptr<::osg::LightSource> mLightSource2;
350
352 ::osg::Vec3 mUpwards;
353
355 ::osg::Vec3 mOver;
356
359
362
365
368 std::map<WorldNode*,bool> mWorldNodes;
369
370 std::unordered_set<ViewerAttachment*> mAttachments;
371
373 std::string mInstructions;
374
375 // TODO(MXG): Consolidate all these maps into a single map of maps which uses
376 // typeid as a key
377
379 std::map<dart::dynamics::SimpleFrame*,SimpleFrameDnD*> mSimpleFrameDnDMap;
380
384 std::multimap<dart::dynamics::Shape*,SimpleFrameShapeDnD*> mSimpleFrameShapeDnDMap;
385
387 std::map<InteractiveFrame*,InteractiveFrameDnD*> mInteractiveFrameDnDMap;
388
390 std::map<dart::dynamics::BodyNode*,BodyNodeDnD*> mBodyNodeDnDMap;
391};
392
393} // namespace osg
394} // namespace gui
395} // namespace dart
396
397#endif // DART_GUI_OSG_VIEWER_HPP_
std::size_t index
Definition SkelParser.cpp:1617
The Subject class is a base class for any object that wants to report when it gets destroyed.
Definition Subject.hpp:58
BodyNode class represents a single node of the skeleton.
Definition BodyNode.hpp:78
Entity class is a base class for any objects that exist in the kinematic tree structure of DART.
Definition Entity.hpp:60
Definition Shape.hpp:53
The SimpleFrame class offers a user-friendly way of creating arbitrary Frames within the kinematic tr...
Definition SimpleFrame.hpp:52
Definition DragAndDrop.hpp:272
Definition DefaultEventHandler.hpp:101
DragAndDrop is a class that facilitates enabling various kinds of dart Entities to be dragged and dro...
Definition DragAndDrop.hpp:61
Definition DragAndDrop.hpp:240
Definition InteractiveFrame.hpp:112
Definition Viewer.cpp:56
SimpleFrameDnD is a DragAndDrop implementation for SimpleFrame objects.
Definition DragAndDrop.hpp:180
SimpleFrameShapeDnD is a version of SimpleFrameDnD that allows a specific Shape within the SimpleFram...
Definition DragAndDrop.hpp:212
Definition Viewer.hpp:75
ViewerAttachment()
Default constructor.
Definition Viewer.cpp:151
Viewer * getViewer()
Definition Viewer.cpp:165
virtual void attach(Viewer *newViewer)
This function will get called when the visual is attached to a new Viewer.
Definition Viewer.cpp:183
Viewer * mViewer
Definition Viewer.hpp:111
virtual ~ViewerAttachment()
Virtual destructor.
Definition Viewer.cpp:158
virtual void customAttach(Viewer *newViewer)
This function will be called by attach(Viewer*) so you can do customized setup when the Viewer change...
Definition Viewer.cpp:177
virtual void refresh()=0
This function will get called each time the Viewer is refreshed.
Definition Viewer.hpp:116
void setUpwardsDirection(const ::osg::Vec3 &_up)
Set the direction that this Viewer should consider to be upwards (default is <0,0,...
Definition Viewer.cpp:510
bool isSimulating() const
Return true iff this Viewer is currently set to simulate.
Definition Viewer.cpp:569
void removeWorldNode(WorldNode *_oldWorldNode)
Remove a WorldNode from this Viewer.
Definition Viewer.cpp:389
void simulate(bool _on)
Set all currently active WorldNodes to simulate _on.
Definition Viewer.cpp:553
void addWorldNode(WorldNode *_newWorldNode, bool _active=true)
Add a WorldNode to this Viewer.
Definition Viewer.cpp:372
virtual void switchHeadlights(bool _on)
Pass in true to turn headlights on, false to turn headlights off.
Definition Viewer.cpp:313
bool mSimulating
True iff this Viewer is currently simulating.
Definition Viewer.hpp:358
WorldNode * getWorldNode(std::shared_ptr< dart::simulation::World > _world) const
Get the WorldNode associated with the given _world.
Definition Viewer.cpp:412
std::string mImageDirectory
Directory for saving images.
Definition Viewer.hpp:322
DragAndDrop * enableDragAndDrop(dart::dynamics::Entity *_entity)
Returns a nullptr if _entity is not a type that can support the built-in drag and drop features,...
Definition Viewer.cpp:590
const std::string & getInstructions() const
Get a string containing the user interface constructions for this Viewer.
Definition Viewer.cpp:795
void addAttachment(ViewerAttachment *_attachment)
Add an attachment to this Viewer.
Definition Viewer.cpp:432
void record(const std::string &directory, const std::string &prefix="image", bool restart=false, std::size_t digits=6)
As the screen refreshes, save screen capture images to the specified directory.
Definition Viewer.cpp:255
std::multimap< dart::dynamics::Shape *, SimpleFrameShapeDnD * > mSimpleFrameShapeDnDMap
Multimap from Shape ptrs to SimpleFrameShapeDnD ptrs.
Definition Viewer.hpp:384
bool isAllowingSimulation() const
Return true iff this Viewer is currently allowing simulation to happen.
Definition Viewer.cpp:584
std::string mInstructions
string of instructions for this Viewer
Definition Viewer.hpp:373
std::string mScreenCapName
Name for the next screen capture.
Definition Viewer.hpp:328
::osg::ref_ptr< DefaultEventHandler > mDefaultEventHandler
Default WorldNodeEventHandler for this dart::gui::osg::Viewer.
Definition Viewer.hpp:331
const ::osg::ref_ptr<::osg::LightSource > & getLightSource(std::size_t index=0) const
Get one of the LightSources of this Viewer index either 0 or 1 Useful for shadowing techniques.
Definition Viewer.cpp:475
::osg::ref_ptr<::osg::Light > mLight2
Non-headlights Light #2.
Definition Viewer.hpp:346
void setVerticalFieldOfView(double fov)
Sets the vertical field of view of the master camera of the view.
Definition Viewer.cpp:847
void allowSimulation(bool _allow)
Prevent simulation from starting, even if simulate(true) is called.
Definition Viewer.cpp:575
virtual void updateViewer()
Called automatically at the beginning of each render cycle.
Definition Viewer.cpp:807
std::size_t mImageSequenceNum
Current number of the image sequence for screen recording.
Definition Viewer.hpp:310
::osg::Vec3 mOver
Vector pointing to the side.
Definition Viewer.hpp:355
::osg::Vec3 mUpwards
Vector pointing upwards.
Definition Viewer.hpp:352
void updateDragAndDrops()
Called automatically by updateViewer()
Definition Viewer.cpp:813
::osg::ref_ptr<::osg::Light > mLight1
Non-headlights Light #1.
Definition Viewer.hpp:340
bool disableDragAndDrop(DragAndDrop *_dnd)
Delete a DragAndDrop object.
Definition Viewer.cpp:706
void setupDefaultLights()
Set up the default lighting scheme.
Definition Viewer.cpp:484
bool mHeadlights
True iff headlights were last set to be on.
Definition Viewer.hpp:364
::osg::Group * getLightGroup()
Get the Group node that contains the LightSources for this Viewer.
Definition Viewer.cpp:463
::osg::ref_ptr<::osg::LightSource > mLightSource2
Non-headlights LightSource #2.
Definition Viewer.hpp:349
void captureScreen(const std::string &filename)
Capture the current screen in a png file.
Definition Viewer.cpp:238
void addInstructionText(const std::string &_instruction)
Add something to the instructions for this Viewer.
Definition Viewer.cpp:801
::osg::ref_ptr<::osg::Group > mLightGroup
The Group Node containing light sources.
Definition Viewer.hpp:337
virtual ~Viewer()
Destructor.
Definition Viewer.cpp:227
void pauseRecording()
If the Viewer is recording, then pause the recording.
Definition Viewer.cpp:282
void setWorldNodeActive(WorldNode *_node, bool _active=true)
Set the given WorldNode to active.
Definition Viewer.cpp:536
std::unordered_set< ViewerAttachment * > mAttachments
Definition Viewer.hpp:370
double getVerticalFieldOfView() const
Returns the vertical field of view of the master camera of the view.
Definition Viewer.cpp:878
::osg::ref_ptr<::osg::Group > mRootGroup
The root node of this Viewer.
Definition Viewer.hpp:334
virtual void switchDefaultEventHandler(bool _on)
Creates the default event handler for this dart::gui::osg::Viewer.
Definition Viewer.cpp:299
std::string mImagePrefix
Prefix to apply to images.
Definition Viewer.hpp:325
std::map< WorldNode *, bool > mWorldNodes
Map of WorldNodes in this dart::gui::osg::Viewer.
Definition Viewer.hpp:368
const ::osg::ref_ptr<::osg::Group > & getRootGroup() const
Get the root ::osg::Group of this Viewer.
Definition Viewer.cpp:841
bool isRecording() const
Returns true if the Viewer is currently recording.
Definition Viewer.cpp:293
::osg::ref_ptr<::osg::LightSource > mLightSource1
Non-headlights LightSource #1.
Definition Viewer.hpp:343
std::map< dart::dynamics::SimpleFrame *, SimpleFrameDnD * > mSimpleFrameDnDMap
Map from SimpleFrame ptrs to SimpleFrameDnD ptrs.
Definition Viewer.hpp:379
DefaultEventHandler * getDefaultEventHandler() const
Return a pointer to the default event handler.
Definition Viewer.cpp:307
void removeAttachment(ViewerAttachment *_attachment)
Remove the attachment from this Viewer.
Definition Viewer.cpp:444
std::size_t mImageDigits
Number of digits to use when saving an image sequence.
Definition Viewer.hpp:313
std::map< InteractiveFrame *, InteractiveFrameDnD * > mInteractiveFrameDnDMap
Map from InteractiveFrame ptrs to InteractiveFrameDnD ptrs.
Definition Viewer.hpp:387
bool mAllowSimulation
True iff this Viewer is allowing simulation.
Definition Viewer.hpp:361
std::map< dart::dynamics::BodyNode *, BodyNodeDnD * > mBodyNodeDnDMap
Map from BodyNode ptrs to BodyNodeDnD ptrs.
Definition Viewer.hpp:390
bool mScreenCapture
Whether or not the Viewer is staged for a screen capture.
Definition Viewer.hpp:319
bool mRecording
Whether or not the Viewer is currently recording.
Definition Viewer.hpp:316
const std::unordered_set< ViewerAttachment * > & getAttachments() const
Get the set of attachments in this Viewer.
Definition Viewer.cpp:457
bool checkHeadlights() const
True iff headlights are currently set to true.
Definition Viewer.cpp:366
WorldNode class encapsulates a World to be displayed in OpenSceneGraph.
Definition WorldNode.hpp:65
class World
Definition World.hpp:83
Definition BulletCollisionDetector.cpp:63