VisualizeContactsBehavior.h
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// This file is a part of the OpenSurgSim project.
// Copyright 2013-2015, 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_VISUALIZECONTACTSBEHAVIOR_H
#define SURGSIM_BLOCKS_VISUALIZECONTACTSBEHAVIOR_H
#include <memory>
#include <string>
#include "SurgSim/Framework/Behavior.h"
#include "SurgSim/Framework/ObjectFactory.h"
namespace SurgSim
{
namespace Graphics
{
class VectorFieldRepresentation;
}
namespace Collision
{
class Representation;
}
namespace Blocks
{
SURGSIM_STATIC_REGISTRATION(VisualizeContactsBehavior);
class VisualizeContactsBehavior: public SurgSim::Framework::Behavior
{
public:
explicit VisualizeContactsBehavior(const std::string& name);
SURGSIM_CLASSNAME(SurgSim::Blocks::VisualizeContactsBehavior);
std::shared_ptr<SurgSim::Framework::Component> getSource();
void setSource(std::shared_ptr<SurgSim::Framework::Component> source);
void update(double dt) override;
int getTargetManagerType() const override;
double getVectorFieldScale();
// \param scale The scale of the vector field.
void setVectorFieldScale(double scale);
protected:
bool doInitialize() override;
bool doWakeUp() override;
private:
std::shared_ptr<SurgSim::Collision::Representation> m_source;
std::shared_ptr<SurgSim::Graphics::VectorFieldRepresentation> m_vectorField;
};
} // namespace Blocks
} // namespace SurgSim
#endif // SURGSIM_BLOCKS_VISUALIZECONTACTSBEHAVIOR_H
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Blocks::VisualizeContactsBehavior
This behavior is used to visualize the contacts on collision representation through vector field...
Definition: VisualizeContactsBehavior.h:45
SurgSim::Blocks::VisualizeContactsBehavior::m_source
std::shared_ptr< SurgSim::Collision::Representation > m_source
The collision representation to get contacts for visualizing.
Definition: VisualizeContactsBehavior.h:80
ObjectFactory.h
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
SurgSim::Blocks::VisualizeContactsBehavior::m_vectorField
std::shared_ptr< SurgSim::Graphics::VectorFieldRepresentation > m_vectorField
The osg vector field for visualizing contacts on collision representation.
Definition: VisualizeContactsBehavior.h:83
SurgSim::Framework::Behavior
Behaviors perform actions.
Definition: Behavior.h:40
SurgSim::Collision::Representation
The type of collision detection.
Definition: Representation.h:60