WorldNode.hpp

/*
 * Copyright (c) 2011-2021, The DART development contributors
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#ifndef DART_GUI_OSG_WORLDNODE_HPP_
#define DART_GUI_OSG_WORLDNODE_HPP_

#include <memory>
#include <unordered_map>
#include <osg/Group>
#include <osgShadow/ShadowTechnique>

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

namespace dart {

namespace simulation {
class World;
} // namespace simulation

namespace dynamics {
class Frame;
class Entity;
class ShapeFrame;
} // namespace dynamics

namespace gui {
namespace osg {

class FrameNode;
class ShapeFrameNode;
class EntityNode;
class Viewer;

class WorldNode : public ::osg::Group
{
public:
  friend class Viewer;

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

  void setWorld(std::shared_ptr<dart::simulation::World> newWorld);

  std::shared_ptr<dart::simulation::World> getWorld() const;

  virtual void refresh();

  virtual void customPreRefresh();

  virtual void customPostRefresh();

  virtual void customPreStep();

  virtual void customPostStep();

  bool isSimulating() const;

  void simulate(bool on);

  void setNumStepsPerCycle(std::size_t steps);

  std::size_t getNumStepsPerCycle() const;

  bool isShadowed() const;

  void setShadowTechnique(
      ::osg::ref_ptr<osgShadow::ShadowTechnique> shadowTechnique = nullptr);

  ::osg::ref_ptr<osgShadow::ShadowTechnique> getShadowTechnique() const;

  static ::osg::ref_ptr<osgShadow::ShadowTechnique>
  createDefaultShadowTechnique(const Viewer* viewer);

  virtual ~WorldNode();

protected:
  virtual void setupViewer();

  void clearChildUtilizationFlags();

  void clearUnusedNodes();

  void refreshSkeletons();

  void refreshSimpleFrames();

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

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

  using NodeMap = std::
      unordered_map<dart::dynamics::Frame*, ::osg::ref_ptr<ShapeFrameNode>>;

  NodeMap mFrameToNode;

  std::shared_ptr<dart::simulation::World> mWorld;

  bool mSimulating;

  std::size_t mNumStepsPerCycle;

  Viewer* mViewer;

  ::osg::ref_ptr<::osg::Group> mNormalGroup;

  ::osg::ref_ptr<::osgShadow::ShadowedScene> mShadowedGroup;

  bool mShadowed;
};

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

#endif // DART_GUI_OSG_WORLDNODE_HPP_