SimWindow.hpp

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
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 *   without modification, are permitted provided that the following
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 *   * Redistributions of source code must retain the above copyright
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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_