SupportPolygonVisual.hpp

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#ifndef DART_GUI_OSG_SUPPORTPOLYGONVISUAL_HPP_
#define DART_GUI_OSG_SUPPORTPOLYGONVISUAL_HPP_

#include <osg/Geode>

#include "dart/dynamics/SmartPointer.hpp"

#include "dart/gui/osg/ShapeFrameNode.hpp"
#include "dart/gui/osg/Viewer.hpp"

namespace dart {
namespace gui {
namespace osg {

class SupportPolygonVisual : public ViewerAttachment
{
public:
  SupportPolygonVisual(
      const dart::dynamics::SkeletonPtr& skeleton = nullptr,
      double elevation = 0.02);

  SupportPolygonVisual(
      const dart::dynamics::SkeletonPtr& skeleton,
      std::size_t treeIndex,
      double elevation = 0.02);

  void setSkeleton(const dart::dynamics::SkeletonPtr& skeleton);

  dart::dynamics::SkeletonPtr getSkeleton() const;

  void visualizeWholeSkeleton();

  void visualizeTree(std::size_t treeIndex);

  void setDisplayElevation(double elevation);

  double getDisplayElevation() const;

  void displayPolygon(bool display);

  bool isPolygonDisplayed() const;

  void setPolygonColor(const Eigen::Vector4d& color);

  Eigen::Vector4d getPolygonColor() const;

  void displayCentroid(bool display);

  bool isCentroidDisplayed() const;

  void setCentroidRadius(double radius);

  double getCentroidRadius() const;

  void displayCenterOfMass(bool display);

  bool isCenterOfMassDisplayed() const;

  void setCenterOfMassRadius(double radius);

  double getCenterOfMassRadius() const;

  void setValidCOMColor(const Eigen::Vector4d& color);

  const Eigen::Vector4d& getValidCOMColor() const;

  void setInvalidCOMColor(const Eigen::Vector4d& color);

  const Eigen::Vector4d& getInvalidCOMColor() const;

  void refresh() override final;

protected:
  void initialize();

  dart::dynamics::WeakSkeletonPtr mSkeleton;

  std::size_t mTreeIndex;

  double mElevation;

  bool mDisplayPolygon;

  bool mDisplayCentroid;

  dart::dynamics::SimpleFramePtr mCentroid;

  double mCentroidRadius;

  bool mDisplayCOM;

  dart::dynamics::SimpleFramePtr mCom;

  double mComRadius;

  Eigen::Vector4d mValidColor;

  Eigen::Vector4d mInvalidColor;

  ::osg::ref_ptr<::osg::Vec4Array> mPolygonColor;

  ::osg::ref_ptr<::osg::Geode> mPolygonGeode;

  ::osg::ref_ptr<::osg::Geometry> mPolygonGeom;

  ::osg::ref_ptr<::osg::Vec3Array> mVertices;

  ::osg::ref_ptr<::osg::DrawElementsUShort> mFaces;

  ::osg::ref_ptr<ShapeFrameNode> mCentroidNode;

  ::osg::ref_ptr<ShapeFrameNode> mComNode;
};

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

#endif // DART_GUI_OSG_SUPPORTPOLYGONVISUAL_HPP_