SimWindow.hpp

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#ifndef DART_GUI_GLUT_SIMWINDOW_HPP_
#define DART_GUI_GLUT_SIMWINDOW_HPP_
 
#include <vector>
 
#include <Eigen/Dense>
 
#include "dart/common/Deprecated.hpp"
#include "dart/gui/glut/Win3D.hpp"
#include "dart/simulation/World.hpp"
 
namespace dart {
namespace gui {
namespace glut {
 
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 glut
}  // namespace gui
}  // namespace dart
 
#endif  // DART_GUI_GLUT_SIMWINDOW_HPP_