physics/VisualDebugUtil

Go to the documentation of this file.

/* **-*-c++-*-**************************************************************
  Copyright (C)2003 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: VisualDebugUtil 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.2 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
  
****************************************************************************/

#ifndef _PHYSICS_VISUALDEBUGUTIL_
#define _PHYSICS_VISUALDEBUGUTIL_

#include <base/Object>
#include <base/Transform>
#include <physics/physics>
#include <physics/Box>
#include <physics/Sphere>
#include <physics/Cylinder>
#include <physics/Capsule>
#include <base/Dimension3>

#include <gfx/Color4>
#include <gfx/Visual>

#include <osg/MatrixTransform>


namespace physics {


class VisualDebugUtil : public gfx::Visual, virtual public base::Object
{
public:
  VisualDebugUtil() {}
  virtual ~VisualDebugUtil() {}
  
  virtual String className() const { return String("VisualDebugUtil"); }

  static void addDebugObject(ref<const Shape> shape, const String& name, base::Transform worldConfiguration, const gfx::Color4& color = gfx::Color4("lime green"));
  static void addDebugBoxObject(base::Dimension3 dimensions, const String& name, base::Transform worldConfiguration, const gfx::Color4& color = gfx::Color4("lime green"));
  static void addDebugSphereObject(Real radius, const String& name, base::Transform worldConfiguration, const gfx::Color4& color = gfx::Color4("lime green"));
  static void addDebugCylinderObject(Real height, Real radius, const String& name, base::Transform worldConfiguration, const gfx::Color4& color = gfx::Color4("lime green"));
  static void addDebugCapsuleObject(Real height, Real radius, const String& name, base::Transform worldConfiguration, const gfx::Color4& color = gfx::Color4("lime green"));
  
  
  static void setConfiguration(const String& name, const base::Transform& configuration);
  static void setColor(const String& name, const gfx::Color4& color);
  static void setColorAll(gfx::Color4& color);
  
  // Visual
  virtual bool visualTypeSupported(VisualType type) const { return (type==OSGVisual); }
  virtual osg::Node* createOSGVisual(Attributes visualAttributes=0) const;

  static void updateVisual();
  
protected:
  struct DebugObjectData {
    DebugObjectData() {}
    DebugObjectData(const String& name, ref<const Shape> shape, const gfx::Color4& color, const base::Transform& configuration);
    
    String name;
    ref<const Shape> shape;
    gfx::Color4 color;
    base::Transform configuration;
    ref_ptr<osg::MatrixTransform> transform;
  };

  typedef std::map< String, DebugObjectData > ObjectMap;
  
  static ObjectMap debugObjects; 
  
  // for Visual
  static Visual::Attributes attributes;
  static ref_ptr<osg::Group> node; // ==0 => no Visual has been created

};


} // physics

#endif

---