WorldNode class encapsulates a World to be displayed in OpenSceneGraph. More...

#include <WorldNode.hpp>

Inheritance diagram for dart::gui::osg::WorldNode:

Public Member Functions
	WorldNode (std::shared_ptr< dart::simulation::World > world=nullptr, ::osg::ref_ptr< osgShadow::ShadowTechnique > shadowTechnique=nullptr)
	Default constructor Shadows are disabled by default. More...

void	setWorld (std::shared_ptr< dart::simulation::World > newWorld)
	Set the World that this WorldNode is associated with. More...

std::shared_ptr< dart::simulation::World >	getWorld () const
	Get the World that this WorldNode is associated with. More...

virtual void	refresh ()
	This function is called at the beginning of each rendering cycle. More...

virtual void	customPreRefresh ()
	If update() is not overloaded, this function will be called at the beginning of each rendering cycle. More...

virtual void	customPostRefresh ()
	If update() is not overloaded, this function will be called at the end of each rendering cycle. More...

virtual void	customPreStep ()
	If update() is not overloaded, this function will be called at the beginning of each simulation step. More...

virtual void	customPostStep ()
	If update() is not overloaded, this function will be called at the end of each simulation step. More...

bool	isSimulating () const
	Returns true iff the WorldNode is stepping between render cycles. More...

void	simulate (bool on)
	Pass in true to take steps between render cycles; pass in false to turn off steps between render cycles. More...

void	setNumStepsPerCycle (std::size_t steps)
	Set the number of steps to take between each render cycle (only if the simulation is not paused) More...

std::size_t	getNumStepsPerCycle () const
	Get the number of steps that will be taken between each render cycle (only if the simulation is not paused) More...

bool	isShadowed () const
	Get whether the WorldNode is casting shadows. More...

void	setShadowTechnique (::osg::ref_ptr< osgShadow::ShadowTechnique > shadowTechnique=nullptr)
	Set the ShadowTechnique If you wish to disable shadows, pass a nullptr. More...

::osg::ref_ptr< osgShadow::ShadowTechnique >	getShadowTechnique () const
	Get the current ShadowTechnique nullptr is there are no shadows. More...

static ::osg::ref_ptr< osgShadow::ShadowTechnique >	createDefaultShadowTechnique (const Viewer *viewer)
	Helper function to create a default ShadowTechnique given a Viewer the default ShadowTechnique is ShadowMap. More...

Protected Types
using	NodeMap = std::unordered_map< dart::dynamics::Frame , ShapeFrameNode >

Protected Member Functions
virtual	~WorldNode ()
	Destructor. More...

virtual void	setupViewer ()
	Called when this world gets added to an dart::gui::osg::Viewer. More...

void	clearChildUtilizationFlags ()
	Clear the utilization flags of each child node. More...

void	clearUnusedNodes ()
	Clear any nodes whose utilization flags were not triggered on this render cycle. More...

void	refreshSkeletons ()
	Refresh all the Skeleton rendering data. More...

void	refreshSimpleFrames ()
	Refresh all the custom Frame rendering data. More...

void	refreshBaseFrameNode (dart::dynamics::Frame *frame)

void	refreshShapeFrameNode (dart::dynamics::Frame *frame)

Protected Attributes
NodeMap	mFrameToNode
	Map from Frame pointers to FrameNode pointers. More...

std::shared_ptr< dart::simulation::World >	mWorld
	The World that this WorldNode is associated with. More...

bool	mSimulating
	True iff simulation is active. More...

std::size_t	mNumStepsPerCycle
	Number of steps to take between rendering cycles. More...

Viewer *	mViewer
	Viewer that this WorldNode is inside of. More...

::osg::ref_ptr<::osg::Group >	mNormalGroup
	OSG group for non-shadowed objects. More...

::osg::ref_ptr<::osg::Group >	mShadowedGroup
	OSG group for shadowed objects. More...

bool	mShadowed
	Whether the shadows are enabled. More...

Friends
class	Viewer

Detailed Description

WorldNode class encapsulates a World to be displayed in OpenSceneGraph.

Member Typedef Documentation

◆ NodeMap

using dart::gui::osg::WorldNode::NodeMap = std::unordered_map<dart::dynamics::Frame*, ShapeFrameNode*>

protected

Constructor & Destructor Documentation

◆ WorldNode()

dart::gui::osg::WorldNode::WorldNode	(	std::shared_ptr< dart::simulation::World >	world = `nullptr`,
		::osg::ref_ptr< osgShadow::ShadowTechnique >	shadowTechnique = `nullptr`
	)

explicit

Default constructor Shadows are disabled by default.

◆ ~WorldNode()

dart::gui::osg::WorldNode::~WorldNode ( )

protectedvirtual

Destructor.

Member Function Documentation

◆ clearChildUtilizationFlags()

void dart::gui::osg::WorldNode::clearChildUtilizationFlags ( )

protected

Clear the utilization flags of each child node.

◆ clearUnusedNodes()

void dart::gui::osg::WorldNode::clearUnusedNodes ( )

protected

Clear any nodes whose utilization flags were not triggered on this render cycle.

◆ createDefaultShadowTechnique()

osg::ref_ptr< osgShadow::ShadowTechnique > dart::gui::osg::WorldNode::createDefaultShadowTechnique ( const Viewer * viewer )

Helper function to create a default ShadowTechnique given a Viewer the default ShadowTechnique is ShadowMap.

◆ customPostRefresh()

void dart::gui::osg::WorldNode::customPostRefresh ( )

virtual

If update() is not overloaded, this function will be called at the end of each rendering cycle.

This function can be overloaded to customize the behavior of each update. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation.

◆ customPostStep()

void dart::gui::osg::WorldNode::customPostStep ( )

virtual

If update() is not overloaded, this function will be called at the end of each simulation step.

This function can be overloaded to customize the behavior of each step. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation. This will not get called if the simulation is paused.

◆ customPreRefresh()

void dart::gui::osg::WorldNode::customPreRefresh ( )

virtual

If update() is not overloaded, this function will be called at the beginning of each rendering cycle.

This function can be overloaded to customize the behavior of each update. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation.

◆ customPreStep()

void dart::gui::osg::WorldNode::customPreStep ( )

virtual

If update() is not overloaded, this function will be called at the beginning of each simulation step.

This function can be overloaded to customize the behavior of each step. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation. This will not get called if the simulation is paused.

◆ getNumStepsPerCycle()

std::size_t dart::gui::osg::WorldNode::getNumStepsPerCycle ( ) const

Get the number of steps that will be taken between each render cycle (only if the simulation is not paused)

◆ getShadowTechnique()

osg::ref_ptr< osgShadow::ShadowTechnique > dart::gui::osg::WorldNode::getShadowTechnique ( ) const

Get the current ShadowTechnique nullptr is there are no shadows.

◆ getWorld()

std::shared_ptr< dart::simulation::World > dart::gui::osg::WorldNode::getWorld ( ) const

Get the World that this WorldNode is associated with.

◆ isShadowed()

bool dart::gui::osg::WorldNode::isShadowed ( ) const

Get whether the WorldNode is casting shadows.

◆ isSimulating()

bool dart::gui::osg::WorldNode::isSimulating ( ) const

Returns true iff the WorldNode is stepping between render cycles.

◆ refresh()

void dart::gui::osg::WorldNode::refresh ( )

virtual

This function is called at the beginning of each rendering cycle.

It updates the tree of Frames and Entities that need to be rendered. It may also take a simulation step if the simulation is not paused.

If you want to customize what happens at the beginning of each rendering cycle, you can either overload this function, or you can overload customUpdate(). This update() function will automatically call customUpdate() at the beginning of each rendering cycle. By default, customUpdate() does nothing.

Reimplemented in dart::gui::osg::RealTimeWorldNode.

◆ refreshBaseFrameNode()

void dart::gui::osg::WorldNode::refreshBaseFrameNode ( dart::dynamics::Frame * frame )

protected

◆ refreshShapeFrameNode()

void dart::gui::osg::WorldNode::refreshShapeFrameNode ( dart::dynamics::Frame * frame )

protected

◆ refreshSimpleFrames()

void dart::gui::osg::WorldNode::refreshSimpleFrames ( )

protected

Refresh all the custom Frame rendering data.

◆ refreshSkeletons()

void dart::gui::osg::WorldNode::refreshSkeletons ( )

protected

Refresh all the Skeleton rendering data.

◆ setNumStepsPerCycle()

void dart::gui::osg::WorldNode::setNumStepsPerCycle ( std::size_t steps )

Set the number of steps to take between each render cycle (only if the simulation is not paused)

◆ setShadowTechnique()

void dart::gui::osg::WorldNode::setShadowTechnique ( ::osg::ref_ptr< osgShadow::ShadowTechnique > shadowTechnique = nullptr )

Set the ShadowTechnique If you wish to disable shadows, pass a nullptr.

◆ setupViewer()

void dart::gui::osg::WorldNode::setupViewer ( )

protectedvirtual

Called when this world gets added to an dart::gui::osg::Viewer.

Override this function to customize the way your WorldNode starts up in an dart::gui::osg::Viewer. Default behavior does nothing.

◆ setWorld()

void dart::gui::osg::WorldNode::setWorld ( std::shared_ptr< dart::simulation::World > newWorld )

Set the World that this WorldNode is associated with.

◆ simulate()

void dart::gui::osg::WorldNode::simulate ( bool on )

Pass in true to take steps between render cycles; pass in false to turn off steps between render cycles.

Friends And Related Function Documentation

◆ Viewer

friend class Viewer

friend

Member Data Documentation

◆ mFrameToNode

NodeMap dart::gui::osg::WorldNode::mFrameToNode

protected

Map from Frame pointers to FrameNode pointers.

◆ mNormalGroup

::osg::ref_ptr<::osg::Group> dart::gui::osg::WorldNode::mNormalGroup

protected

OSG group for non-shadowed objects.

◆ mNumStepsPerCycle

std::size_t dart::gui::osg::WorldNode::mNumStepsPerCycle

protected

Number of steps to take between rendering cycles.

◆ mShadowed

bool dart::gui::osg::WorldNode::mShadowed

protected

Whether the shadows are enabled.

◆ mShadowedGroup

::osg::ref_ptr<::osg::Group> dart::gui::osg::WorldNode::mShadowedGroup

protected

OSG group for shadowed objects.

◆ mSimulating

bool dart::gui::osg::WorldNode::mSimulating

protected

True iff simulation is active.

◆ mViewer

Viewer* dart::gui::osg::WorldNode::mViewer

protected

Viewer that this WorldNode is inside of.

◆ mWorld

std::shared_ptr<dart::simulation::World> dart::gui::osg::WorldNode::mWorld

protected

The World that this WorldNode is associated with.

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ NodeMap

Constructor & Destructor Documentation

◆ WorldNode()

◆ ~WorldNode()

Member Function Documentation

◆ clearChildUtilizationFlags()

◆ clearUnusedNodes()

◆ createDefaultShadowTechnique()

◆ customPostRefresh()

◆ customPostStep()

◆ customPreRefresh()

◆ customPreStep()

◆ getNumStepsPerCycle()

◆ getShadowTechnique()

◆ getWorld()

◆ isShadowed()

◆ isSimulating()

◆ refresh()

◆ refreshBaseFrameNode()

◆ refreshShapeFrameNode()

◆ refreshSimpleFrames()

◆ refreshSkeletons()

◆ setNumStepsPerCycle()

◆ setShadowTechnique()

◆ setupViewer()

◆ setWorld()

◆ simulate()

Friends And Related Function Documentation

◆ Viewer

Member Data Documentation

◆ mFrameToNode

◆ mNormalGroup

◆ mNumStepsPerCycle

◆ mShadowed

◆ mShadowedGroup

◆ mSimulating

◆ mViewer

◆ mWorld