VisualizeConstraints.h
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// This file is a part of the OpenSurgSim project.
// Copyright 2013-2016, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H
#define SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H
#include "SurgSim/Framework/BasicSceneElement.h"
#include "SurgSim/Framework/Behavior.h"
#include "SurgSim/Physics/PhysicsManagerState.h"
namespace SurgSim
{
namespace Physics
{
class PhysicsManager;
}
namespace Framework
{
class Logger;
}
namespace Graphics
{
class VectorFieldRepresentation;
}
namespace Blocks
{
SURGSIM_STATIC_REGISTRATION(VisualizeConstraintsBehavior);
class VisualizeConstraintsBehavior : public SurgSim::Framework::Behavior
{
public:
explicit VisualizeConstraintsBehavior(const std::string& name);
SURGSIM_CLASSNAME(SurgSim::Blocks::VisualizeConstraintsBehavior);
void setVectorField(Physics::ConstraintGroupType constraintType,
const std::shared_ptr<Framework::Component>& vectorField);
typedef std::vector<std::pair<int, std::shared_ptr<Framework::Component>>> FieldsType;
void setVectorFields(const FieldsType& fields);
FieldsType getVectorFields() const;
void update(double dt) override;
int getTargetManagerType() const override;
private:
bool doInitialize() override;
bool doWakeUp() override;
std::weak_ptr<SurgSim::Physics::PhysicsManager> m_manager;
std::map<SurgSim::Physics::ConstraintGroupType, std::shared_ptr<SurgSim::Graphics::VectorFieldRepresentation>>
m_graphics;
boost::mutex m_graphicsMutex;
std::shared_ptr<SurgSim::Framework::Logger> m_logger;
};
class VisualizeConstraints : public SurgSim::Framework::BasicSceneElement
{
public:
explicit VisualizeConstraints(const std::string& name = "ConstraintVisualization");
};
}; // namespace Blocks
}; // namespace SurgSim
#endif // SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Blocks::VisualizeConstraintsBehavior::m_graphics
std::map< SurgSim::Physics::ConstraintGroupType, std::shared_ptr< SurgSim::Graphics::VectorFieldRepresentation > > m_graphics
Definition: VisualizeConstraints.h:85
SurgSim::Blocks::VisualizeConstraints
SceneElement that generates the VisualizeConstraintBehavior and the appropriate graphics Vectorfield...
Definition: VisualizeConstraints.h:93
SurgSim::Physics::ConstraintGroupType
ConstraintGroupType
Definition: PhysicsManagerState.h:41
SurgSim::Blocks::VisualizeConstraintsBehavior
Behavior to visualize information about the constraints as they are in the physics manager this will ...
Definition: VisualizeConstraints.h:48
SurgSim::Blocks::VisualizeConstraintsBehavior::m_logger
std::shared_ptr< SurgSim::Framework::Logger > m_logger
Definition: VisualizeConstraints.h:89
SurgSim::Framework::BasicSceneElement
Simple concrete implementation of a scene element that does not have any higher logic.
Definition: BasicSceneElement.h:29
SurgSim::Blocks::VisualizeConstraintsBehavior::m_graphicsMutex
boost::mutex m_graphicsMutex
Definition: VisualizeConstraints.h:87
SurgSim::Blocks::VisualizeConstraintsBehavior::m_manager
std::weak_ptr< SurgSim::Physics::PhysicsManager > m_manager
Need reference to physics manager for introspection into the state.
Definition: VisualizeConstraints.h:82
SurgSim::Blocks::VisualizeConstraintsBehavior::FieldsType
std::vector< std::pair< int, std::shared_ptr< Framework::Component > > > FieldsType
Definition: VisualizeConstraints.h:61
Behavior.h
SURGSIM_CLASSNAME
#define SURGSIM_CLASSNAME(ClassName)
Declare the class name of a class with the appropriate function header, do not use quotes...
Definition: Macros.h:21
BasicSceneElement.h
SurgSim::Framework::Behavior
Behaviors perform actions.
Definition: Behavior.h:40
PhysicsManagerState.h