osgDart Namespace Reference

Namespace containing all the classes and functionality relating to the intersection of DART and OpenSceneGraph. osgDart Diagram. More...

Classes
class	BodyNodeVisuals
	Class that holds all the visualization nodes for a link, excluding the actual link. More...
class	DartNode
	Class that is a subclass of osg::Group, which is the main object for DART visualization in OpenSceneGraph. It can contain many SkeletonNodes as parts of a simulation world. In essence, a DartNode is the largest visualization object. More...
class	DartNodeCallback
	Callback class for updating a DartNode. This class must subclass osg::NodeCallback. More...
class	SkeletonNode
	Class which inherits osg::Group. More...
class	SkeletonVisuals
	Class that combines all the visualization objects at the skeleton level. This class subclasses osg::MatrixTransform. More...
class	ContactForceVisual
	Class that creates a force vector visualization node. More...
Typedefs
typedef std::map< const dart::dynamics::Skeleton *, osg::ref_ptr< SkeletonNode > >	SkeletonNodeMap
	Definition of type SkeletonNodeMap, which maps dart::dynamics::Skeleton* to SkeletonNode*.
typedef std::map< const dart::dynamics::BodyNode *, osg::ref_ptr < osg::MatrixTransform > >	BodyNodeMatrixMap
	Definition of type JointMatrixMap, which maps dart::dynamics::Joint* to osg::MatrixTransform*.
typedef std::map< const dart::dynamics::BodyNode *, osg::ref_ptr< osg::Group > >	BodyNodeGroupMap
	Definition of type BodyNodeGroupMap, which maps dart::dynamics::BodyNode* to osg::Group*.
typedef std::map< const dart::dynamics::BodyNode *, osg::ref_ptr < osgDart::BodyNodeVisuals > >	BodyNodeVisualsMap
	Definition of type BodyNodeGroupMap, which maps dart::dynamics::BodyNode* to osg::Group*.
Enumerations
enum	renderMode_t { RENDER_VISUAL_MESH, RENDER_COLLISION_MESH, RENDER_WIREFRAME_ON, RENDER_WIREFRAME_OFF }
	Render options for the skeleton. More...
Functions
osg::Node *	convertShapeToOsgNode (dart::dynamics::Shape *inputShape)
	Convert dart::dynamics::Shape to an osgNode if it's not a mesh.
osg::Node *	convertMeshToOsgNode (dart::dynamics::Shape *mesh)
	Convert dart::dynamics::MeshShape to an osgNode. DART MeshShapes are stored as Assimp scenes and these get converted to an osg::Node*.

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Detailed Description

Namespace containing all the classes and functionality relating to the intersection of DART and OpenSceneGraph. osgDart Diagram.

Namespace containing all the classes and functionality relating to the intersection of DART and OpenSceneGraph.

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Enumeration Type Documentation

enum osgDart::renderMode_t

Render options for the skeleton.

Enumerator:

RENDER_VISUAL_MESH	Render the visual mesh.
RENDER_COLLISION_MESH	Render the collision mesh.
RENDER_WIREFRAME_ON	Render in wireframe mode.
RENDER_WIREFRAME_OFF	Render in normal mode.

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Function Documentation

osg::Node * osgDart::convertMeshToOsgNode

(

dart::dynamics::Shape *

mesh

)

Convert dart::dynamics::MeshShape to an osgNode. DART MeshShapes are stored as Assimp scenes and these get converted to an osg::Node*.

Parameters:

inputMesh

A dart::dynamics::MeshShape or dart::dynamics::Shape that is actually a MeshShape.

Returns:

osg::MatrixTransform as an osg::Node pointer

osg::Node * osgDart::convertShapeToOsgNode

(

dart::dynamics::Shape *

inputShape

)

Convert dart::dynamics::Shape to an osgNode if it's not a mesh.

Parameters:

inputShape

One of the dart::dynamics::Shape types

Returns:

osg::MatrixTransform as an osg::Node pointer