Grip-Reloaded
Grip version visualizaiton interface for DART (DynamicAnimationandRoboticsToolkits)
/home/pete/myRepos/grip2/osgDart/SkeletonVisuals.h
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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
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