RealTimeWorldNode.hpp

/*
 * Copyright (c) 2011-2021, 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 SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef DART_GUI_OSG_REALTIMEWORLDNODE_HPP_
#define DART_GUI_OSG_REALTIMEWORLDNODE_HPP_

#include <osg/Timer>

#include "dart/gui/osg/WorldNode.hpp"

namespace dart {
namespace gui {
namespace osg {

class RealTimeWorldNode : public WorldNode
{
public:
  RealTimeWorldNode(
      const std::shared_ptr<dart::simulation::World>& world = nullptr,
      const ::osg::ref_ptr<osgShadow::ShadowTechnique>& shadower = nullptr,
      double targetFrequency = 60.0,
      double targetRealTimeFactor = 1.0);

  void setTargetFrequency(double targetFrequency);

  double getTargetFrequency() const;

  void setTargetRealTimeFactor(double targetRTF);

  double getTargetRealTimeFactor() const;

  double getLastRealTimeFactor() const;

  double getLowestRealTimeFactor() const;

  double getHighestRealTimeFactor() const;

  // Documentation inherited
  void refresh() override;

protected:
  bool mFirstRefresh;

  ::osg::Timer mRefreshTimer;

  double mTargetRealTimeLapse;

  double mTargetSimTimeLapse;

  double mLastRealTimeFactor;

  double mLowestRealTimeFactor;

  double mHighestRealTimeFactor;
};

} // namespace osg
} // namespace gui
} // namespace dart

#endif // DART_GUI_OSG_REALTIMEWORLDNODE_HPP_