/home/pete/myRepos/grip2/osgDart/DartNode.h

Go to the documentation of this file.

/*
 * Copyright (c) 2014, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author: Pete Vieira <pete.vieira@gatech.edu>
 * Date: Feb 2014
 *
 * Humanoid skeletonics Lab      Georgia Institute of Technology
 * Director: Mike Stilman     http://www.golems.org
 *
 *
 * 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.
 *
 *   * Neither the name of the Humanoid Robotics Lab nor the names of
 *     its contributors may be used to endorse or promote products
 *     derived from this software without specific prior written
 *     permission
 *
 *   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 DARTNODE_H
#define DARTNODE_H

// DART includes
#include <dart/dynamics/Skeleton.h>
#include <dart/dynamics/Joint.h>
#include <dart/dynamics/BodyNode.h>
#include <dart/simulation/World.h>

// OpenSceneGraph includes
#include <osg/Geode>
#include <osg/Matrix>
#include <osg/MatrixTransform>

// osgDart includes
#include "SkeletonNode.h"
#include "WorldVisuals.h"

namespace osgDart {

typedef std::map<const dart::dynamics::Skeleton*, osg::ref_ptr<SkeletonNode> > SkeletonNodeMap;


class DartNode : public osg::Group
{
public:

    //---------------------------------------------------------------
    //                       PUBLIC FUNCTIONS
    //---------------------------------------------------------------

    DartNode(bool debug=false);

    void _updateContactForces();

    void setContactForcesVisible(bool makeVisible);

    dart::dynamics::Skeleton* parseSkeletonUrdf(std::string urdfFile);

    dart::simulation::World* parseWorldSdf(std::string sdfFile);

    dart::simulation::World* parseWorldUrdf(std::string urdfFile);

    int addWorldFromUrdf(std::string urdfFile);

    size_t addWorldFromSdf(std::string sdfFile);

    size_t addWorld(std::string file);

    size_t addSkeleton(std::string urdfFile);

    size_t addSkeleton(dart::dynamics::Skeleton &skeleton);

    size_t addWorld(dart::simulation::World* world);

    dart::dynamics::Skeleton* getSkeleton(size_t skeletonIndex=0);

    int removeSkeleton(const dart::dynamics::Skeleton* skeletonToRemove);

    int removeSkeleton(size_t skeletonIndex=0);

    void reset();

    dart::simulation::World* getWorld();

    size_t getNumSkeletons();

    void printInfo();

    void update();

    void setSkeletonTransparency(const dart::dynamics::Skeleton& skel, float transparencyValue);

    void setBodyNodeTransparency(const dart::dynamics::BodyNode& node, float transparencyValue);

    void setJointAxesVisible(bool makeVisible=false);

    void setBodyNodeAxesVisible(bool makeVisible=false);

    void setSkeletonCoMVisible(bool makeVisible=false);

    void setSkeletonCoMProjectedVisible(bool makeVisible=false);

    void setSkeletonCollisionMeshOn(bool enable=true);

    void setSkeletonWireFrameOn(bool enable=true);

    void hideSkeleton(int i);

protected:

    //---------------------------------------------------------------
    //                       PROTECTED FUNCTIONS
    //---------------------------------------------------------------

    int skeletonIndexIsValid(size_t skeletonIndex);


    //---------------------------------------------------------------
    //                       PROTECTED VARIABLES
    //---------------------------------------------------------------

    dart::simulation::World* _world;

    std::vector<dart::dynamics::Skeleton*> _skeletons;

    std::vector<osg::ref_ptr<SkeletonNode> > _skeletonNodes;

    SkeletonNodeMap _skelNodeMap;

    std::vector<osg::ref_ptr<osgDart::ContactForceVisual> > _contactForceArrows;

    const bool _debug;
    bool _showContactForces;

}; // end class DartNode

} // end namespace osgDart

#endif // DARTNODE_H