ShapeFrameNode.hpp

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#ifndef DART_GUI_OSG_SHAPEFRAMENODE_HPP_
#define DART_GUI_OSG_SHAPEFRAMENODE_HPP_
 
#include <map>
#include <memory>
 
#include <osg/MatrixTransform>
 
#include "dart/config.hpp"
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace dynamics {
class ShapeFrame;
class Entity;
class Shape;
} // namespace dynamics
 
namespace gui {
namespace osg {
 
namespace render {
class ShapeNode;
} // namespace render
 
class WorldNode;
 
class ShapeFrameNode : public ::osg::MatrixTransform
{
public:
 
  ShapeFrameNode(dart::dynamics::ShapeFrame* frame,
                 WorldNode* worldNode);
 
  dart::dynamics::ShapeFrame* getShapeFrame();
 
  const dart::dynamics::ShapeFrame* getShapeFrame() const;
 
  WorldNode* getWorldNode();
 
  const WorldNode* getWorldNode() const;
 
  void refresh(bool shortCircuitIfUtilized = false);
 
  bool wasUtilized() const;
 
  void clearUtilization();
 
protected:
 
  virtual ~ShapeFrameNode();
 
  void refreshShapeNode(const std::shared_ptr<dart::dynamics::Shape>& shape);
 
  void createShapeNode(const std::shared_ptr<dart::dynamics::Shape>& shape);
 
  dart::dynamics::ShapeFrame* mShapeFrame;
 
  WorldNode* mWorldNode;
 
  render::ShapeNode* mRenderShapeNode;
 
  bool mUtilized;
 
};
 
} // namespace osg
} // namespace gui
} // namespace dart
 
#endif // DART_GUI_OSG_SHAPEFRAMENODE_HPP_