WorldNode class encapsulates a World to be displayed in OpenSceneGraph. More...

#include <WorldNode.hpp>

Inheritance diagram for dart::gui::osg::WorldNode:

Collaboration diagram for dart::gui::osg::WorldNode:

Public Member Functions
	WorldNode (std::shared_ptr< dart::simulation::World > world=nullptr, ::osg::ref_ptr< osgShadow::ShadowTechnique > shadowTechnique=nullptr)
	Default constructor Shadows are disabled by default.

void	setWorld (std::shared_ptr< dart::simulation::World > newWorld)
	Set the World that this WorldNode is associated with.

std::shared_ptr< dart::simulation::World >	getWorld () const
	Get the World that this WorldNode is associated with.

virtual void	refresh ()
	This function is called at the beginning of each rendering cycle. More...

virtual void	customPreRefresh ()
	If update() is not overloaded, this function will be called at the beginning of each rendering cycle. More...

virtual void	customPostRefresh ()
	If update() is not overloaded, this function will be called at the end of each rendering cycle. More...

virtual void	customPreStep ()
	If update() is not overloaded, this function will be called at the beginning of each simulation step. More...

virtual void	customPostStep ()
	If update() is not overloaded, this function will be called at the end of each simulation step. More...

bool	isSimulating () const
	Returns true iff the WorldNode is stepping between render cycles.

void	simulate (bool on)
	Pass in true to take steps between render cycles; pass in false to turn off steps between render cycles. More...

void	setNumStepsPerCycle (std::size_t steps)
	Set the number of steps to take between each render cycle (only if the simulation is not paused)

std::size_t	getNumStepsPerCycle () const
	Get the number of steps that will be taken between each render cycle (only if the simulation is not paused)

bool	isShadowed () const
	Get whether the WorldNode is casting shadows.

void	setShadowTechnique (::osg::ref_ptr< osgShadow::ShadowTechnique > shadowTechnique=nullptr)
	Set the ShadowTechnique If you wish to disable shadows, pass a nullptr.

::osg::ref_ptr< osgShadow::ShadowTechnique >	getShadowTechnique () const
	Get the current ShadowTechnique nullptr is there are no shadows.

static ::osg::ref_ptr< osgShadow::ShadowTechnique >	createDefaultShadowTechnique (const Viewer *viewer)
	Helper function to create a default ShadowTechnique given a Viewer the default ShadowTechnique is ShadowMap.

virtual	~WorldNode ()
	Destructor.

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

Protected Member Functions
virtual void	setupViewer ()
	Called when this world gets added to an dart::gui::osg::Viewer. More...

void	clearChildUtilizationFlags ()
	Clear the utilization flags of each child node.

void	clearUnusedNodes ()
	Clear any nodes whose utilization flags were not triggered on this render cycle.

void	refreshSkeletons ()
	Refresh all the Skeleton rendering data.

void	refreshSimpleFrames ()
	Refresh all the custom Frame rendering data.

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

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

Protected Attributes
NodeMap	mFrameToNode
	Map from Frame pointers to FrameNode pointers.

std::shared_ptr< dart::simulation::World >	mWorld
	The World that this WorldNode is associated with.

bool	mSimulating
	True iff simulation is active.

std::size_t	mNumStepsPerCycle
	Number of steps to take between rendering cycles.

Viewer *	mViewer
	Viewer that this WorldNode is inside of.

::osg::ref_ptr<::osg::Group >	mNormalGroup
	OSG group for non-shadowed objects.

::osg::ref_ptr<::osgShadow::ShadowedScene >	mShadowedGroup
	OSG group for shadowed objects.

bool	mShadowed
	Whether the shadows are enabled.

Friends
class	Viewer

Detailed Description

WorldNode class encapsulates a World to be displayed in OpenSceneGraph.

Member Function Documentation

◆ customPostRefresh()

void dart::gui::osg::WorldNode::customPostRefresh ( )

virtual

If update() is not overloaded, this function will be called at the end of each rendering cycle.

This function can be overloaded to customize the behavior of each update. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation.

Reimplemented in CustomWorldNode, CustomWorldNode, dart::python::PyWorldNode, dart::python::PyRealTimeWorldNodeNode, CustomWorldNode, and CustomWorldNode.

◆ customPostStep()

void dart::gui::osg::WorldNode::customPostStep ( )

virtual

If update() is not overloaded, this function will be called at the end of each simulation step.

This function can be overloaded to customize the behavior of each step. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation. This will not get called if the simulation is paused.

Reimplemented in CustomWorldNode, CustomWorldNode, dart::python::PyWorldNode, dart::python::PyRealTimeWorldNodeNode, RecordingWorld, CustomWorldNode, and CustomWorldNode.

◆ customPreRefresh()

void dart::gui::osg::WorldNode::customPreRefresh ( )

virtual

If update() is not overloaded, this function will be called at the beginning of each rendering cycle.

This function can be overloaded to customize the behavior of each update. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation.

Reimplemented in TeleoperationWorld, TeleoperationWorld, CustomWorldNode, TinkertoyWorldNode, CustomWorldNode, dart::python::PyWorldNode, dart::python::PyRealTimeWorldNodeNode, CustomWorldNode, CustomWorldNode, and WamWorld.

◆ customPreStep()

void dart::gui::osg::WorldNode::customPreStep ( )

virtual

If update() is not overloaded, this function will be called at the beginning of each simulation step.

This function can be overloaded to customize the behavior of each step. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation. This will not get called if the simulation is paused.

Reimplemented in CustomWorldNode, TinkertoyWorldNode, HeightmapWorld, CustomWorldNode, PointCloudWorld, OperationalSpaceControlWorld, dart::python::PyWorldNode, dart::python::PyRealTimeWorldNodeNode, CustomWorldNode, CustomWorldNode, FetchWorldNode, and AtlasSimbiconWorldNode.

◆ refresh()

void dart::gui::osg::WorldNode::refresh ( )

virtual

This function is called at the beginning of each rendering cycle.

It updates the tree of Frames and Entities that need to be rendered. It may also take a simulation step if the simulation is not paused.

If you want to customize what happens at the beginning of each rendering cycle, you can either overload this function, or you can overload customUpdate(). This update() function will automatically call customUpdate() at the beginning of each rendering cycle. By default, customUpdate() does nothing.

Reimplemented in dart::gui::osg::RealTimeWorldNode, dart::python::PyWorldNode, and dart::python::PyRealTimeWorldNodeNode.

◆ setupViewer()

void dart::gui::osg::WorldNode::setupViewer ( )

protectedvirtual

Called when this world gets added to an dart::gui::osg::Viewer.

Override this function to customize the way your WorldNode starts up in an dart::gui::osg::Viewer. Default behavior does nothing.

Reimplemented in TinkertoyWorldNode, and OperationalSpaceControlWorld.

◆ simulate()

void dart::gui::osg::WorldNode::simulate ( bool on )

Pass in true to take steps between render cycles; pass in false to turn off steps between render cycles.

The documentation for this class was generated from the following files:

dart/gui/osg/WorldNode.hpp
dart/gui/osg/WorldNode.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ customPostRefresh()

◆ customPostStep()

◆ customPreRefresh()

◆ customPreStep()

◆ refresh()

◆ setupViewer()

◆ simulate()