Grip-Reloaded
Grip version visualizaiton interface for DART (DynamicAnimationandRoboticsToolkits)
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00001 /* 00002 * Copyright (c) 2014, Georgia Tech Research Corporation 00003 * All rights reserved. 00004 * 00005 * Author: Pete Vieira <pete.vieira@gatech.edu> 00006 * Date: Feb 2014 00007 * 00008 * Humanoid skeletonics Lab Georgia Institute of Technology 00009 * Director: Mike Stilman http://www.golems.org 00010 * 00011 * 00012 * This file is provided under the following "BSD-style" License: 00013 * Redistribution and use in source and binary forms, with or 00014 * without modification, are permitted provided that the following 00015 * conditions are met: 00016 * 00017 * * Redistributions of source code must retain the above copyright 00018 * notice, this list of conditions and the following disclaimer. 00019 * 00020 * * Redistributions in binary form must reproduce the above 00021 * copyright notice, this list of conditions and the following 00022 * disclaimer in the documentation and/or other materials provided 00023 * with the distribution. 00024 * 00025 * * Neither the name of the Humanoid Robotics Lab nor the names of 00026 * its contributors may be used to endorse or promote products 00027 * derived from this software without specific prior written 00028 * permission 00029 * 00030 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 00031 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, 00032 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 00033 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00034 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 00035 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 00036 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 00037 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF 00038 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED 00039 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00040 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00041 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00042 * POSSIBILITY OF SUCH DAMAGE. 00043 */ 00044 00051 #ifndef SKELETON_VISUALS_H 00052 #define SKELETON_VISUALS_H 00053 00054 // OpenSceneGraph includes 00055 #include <osg/MatrixTransform> 00056 #include <osg/CullFace> 00057 00058 // Local includes 00059 #include "../osgGolems/Shapes.h" 00060 00066 namespace osgDart { 00067 00073 class SkeletonVisuals : public osg::MatrixTransform 00074 { 00075 public: 00076 00080 SkeletonVisuals(); 00081 00085 ~SkeletonVisuals(); 00086 00091 void addCenterOfMass(); 00092 00097 void addProjectedCenterOfMass(); 00098 00103 osg::MatrixTransform* getCenterOfMassTF(); 00104 00109 osg::MatrixTransform* getProjectedCenterOfMassTF(); 00110 00116 void setCenterOfMassColor(const osg::Vec4& newColor); 00117 00123 void setProjectedCenterOfMassColor(const osg::Vec4& newColor); 00124 00125 protected: 00126 00132 void _setGeodeModes(osg::Geode* geode); 00133 00135 osg::MatrixTransform* _centerOfMassTF; 00136 00138 osg::MatrixTransform* _projectedCenterOfMassTF; 00139 00141 osgGolems::Sphere* _centerOfMass; 00142 00144 osgGolems::Cylinder* _projectedCenterOfMass; 00145 00147 osg::CullFace* _cullFace; 00148 00149 }; // end class SkeletonVisuals.h 00150 00151 } // end namespace osgDart 00152 00153 #endif // SKELETON_VISUALS_H