1 #ifndef SimTK_SimTKCOMMON_DECORATIVE_GEOMETRY_H_
2 #define SimTK_SimTKCOMMON_DECORATIVE_GEOMETRY_H_
53 class DecorativeGeometryImplementation;
258 const DecorativeGeometryRep&
getRep()
const {assert(rep);
return *rep;}
259 DecorativeGeometryRep&
updRep() {assert(rep);
return *rep;}
261 DecorativeGeometryRep*
rep;
293 class DecorativePointRep& updRep();
294 const DecorativePointRep& getRep()
const;
333 class DecorativeLineRep& updRep();
334 const DecorativeLineRep& getRep()
const;
361 class DecorativeCircleRep& updRep();
362 const DecorativeCircleRep& getRep()
const;
389 class DecorativeSphereRep& updRep();
390 const DecorativeSphereRep& getRep()
const;
419 class DecorativeEllipsoidRep& updRep();
420 const DecorativeEllipsoidRep& getRep()
const;
448 class DecorativeBrickRep& updRep();
449 const DecorativeBrickRep& getRep()
const;
479 class DecorativeCylinderRep& updRep();
480 const DecorativeCylinderRep& getRep()
const;
508 class DecorativeFrameRep& updRep();
509 const DecorativeFrameRep& getRep()
const;
542 class DecorativeTextRep& updRep();
543 const DecorativeTextRep& getRep()
const;
569 class DecorativeMeshRep& updRep();
570 const DecorativeMeshRep& getRep()
const;
602 class DecorativeMeshFileRep& updRep();
603 const DecorativeMeshFileRep& getRep()
const;
638 class DecorativeTorusRep& updRep();
639 const DecorativeTorusRep& getRep()
const;
682 class DecorativeArrowRep& updRep();
683 const DecorativeArrowRep& getRep()
const;
699 Real height = 1.0,
Real baseRadius = 0.5);
727 class DecorativeConeRep& updRep();
728 const DecorativeConeRep& getRep()
const;
776 class DecorationsRep& updRep();
777 const DecorationsRep& getRep()
const;
#define SimTK_SimTKCOMMON_EXPORT
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:224
This is the header which should be included in user programs that would like to make use of all the S...
This defines a single DecorativeGeometry object that is composed of a collection of other DecorativeG...
Definition: DecorativeGeometry.h:740
const DecorativeGeometry & getDecoration(int i) const
Get access to one of the DecorativeGeometry objects in this collection.
Decorations & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:767
Decorations & setUserRef(void *p)
Definition: DecorativeGeometry.h:763
int getNumDecorations() const
Determine how many DecorativeGeometry objects are in this collection.
Decorations & setOpacity(Real o)
Definition: DecorativeGeometry.h:768
SimTK_PIMPL_DOWNCAST(Decorations, DecorativeGeometry)
Decorations & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:770
Decorations(const DecorativeGeometry &decoration)
Construct a Decorations container initially consting of just a single DecorativeGeometry object.
Decorations()
Construct an empty container for DecorativeGeometry objects.
Decorations & addDecoration(const Transform &placement, const DecorativeGeometry &decoration)
Add a DecorativeGeometry object to this collection and place it relative to the Decorations frame.
Decorations & setLineThickness(Real t)
Definition: DecorativeGeometry.h:769
Decorations & addDecoration(const DecorativeGeometry &decoration)
Add a DecorativeGeometry object to this collection.
Decorations & setResolution(Real r)
Definition: DecorativeGeometry.h:765
Decorations & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:766
Decorations & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:762
Decorations & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:764
Decorations & setBodyId(int b)
Definition: DecorativeGeometry.h:761
An arrow with start point, end point and tip-length.
Definition: DecorativeGeometry.h:654
const Vec3 & getEndPoint() const
DecorativeArrow & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:675
DecorativeArrow & setTipLength(Real)
DecorativeArrow & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:669
DecorativeArrow(const Vec3 &startPoint=Vec3(0), const Vec3 &endPoint=Vec3(1), Real tipLength=0.35)
SimTK_PIMPL_DOWNCAST(DecorativeArrow, DecorativeGeometry)
DecorativeArrow & setUserRef(void *p)
Definition: DecorativeGeometry.h:668
DecorativeArrow & setLineThickness(Real t)
Definition: DecorativeGeometry.h:674
DecorativeArrow & setResolution(Real r)
Definition: DecorativeGeometry.h:670
DecorativeArrow & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:671
DecorativeArrow & setStartPoint(const Vec3 &start)
DecorativeArrow & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:667
DecorativeArrow & setBodyId(int b)
Definition: DecorativeGeometry.h:666
const Vec3 & getStartPoint() const
DecorativeArrow & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:672
DecorativeArrow & setOpacity(Real o)
Definition: DecorativeGeometry.h:673
DecorativeArrow & setEndPoint(const Vec3 &end)
const Real & getTipLength() const
This defines a rectangular solid centered at the origin and aligned with the local frame axes.
Definition: DecorativeGeometry.h:426
DecorativeBrick & setOpacity(Real o)
Definition: DecorativeGeometry.h:441
DecorativeBrick & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:440
DecorativeBrick(const Vec3 &halfLengths=Vec3(Real(0.5)))
DecorativeBrick & setUserRef(void *p)
Definition: DecorativeGeometry.h:436
DecorativeBrick & setResolution(Real r)
Definition: DecorativeGeometry.h:438
DecorativeBrick & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:443
SimTK_PIMPL_DOWNCAST(DecorativeBrick, DecorativeGeometry)
DecorativeBrick & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:437
DecorativeBrick & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:439
const Vec3 & getHalfLengths() const
DecorativeBrick & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:435
DecorativeBrick & setBodyId(int b)
Definition: DecorativeGeometry.h:434
DecorativeBrick & setLineThickness(Real t)
Definition: DecorativeGeometry.h:442
DecorativeBrick & setHalfLengths(const Vec3 &)
This defines a circle in the x-y plane, centered at the origin.
Definition: DecorativeGeometry.h:339
DecorativeCircle & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:350
DecorativeCircle & setUserRef(void *p)
Definition: DecorativeGeometry.h:349
DecorativeCircle & setRadius(Real)
DecorativeCircle & setResolution(Real r)
Definition: DecorativeGeometry.h:351
DecorativeCircle(Real radius=0.5)
DecorativeCircle & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:348
DecorativeCircle & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:352
DecorativeCircle & setOpacity(Real o)
Definition: DecorativeGeometry.h:354
DecorativeCircle & setBodyId(int b)
Definition: DecorativeGeometry.h:347
DecorativeCircle & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:353
DecorativeCircle & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:356
SimTK_PIMPL_DOWNCAST(DecorativeCircle, DecorativeGeometry)
DecorativeCircle & setLineThickness(Real t)
Definition: DecorativeGeometry.h:355
A cone with origin point, direction, height and base radius.
Definition: DecorativeGeometry.h:696
DecorativeCone & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:712
DecorativeCone & setResolution(Real r)
Definition: DecorativeGeometry.h:715
const Vec3 & getOrigin() const
DecorativeCone & setUserRef(void *p)
Definition: DecorativeGeometry.h:713
DecorativeCone & setDirection(const UnitVec3 &direction)
const UnitVec3 & getDirection() const
SimTK_PIMPL_DOWNCAST(DecorativeCone, DecorativeGeometry)
DecorativeCone & setOrigin(const Vec3 &origin)
DecorativeCone & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:714
DecorativeCone & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:717
DecorativeCone & setLineThickness(Real t)
Definition: DecorativeGeometry.h:719
const Real & getBaseRadius() const
DecorativeCone & setBaseRadius(Real base)
DecorativeCone & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:716
const Real & getHeight() const
DecorativeCone(const Vec3 &p1=Vec3(0), const UnitVec3 &dir=UnitVec3(1, 1, 1), Real height=1.0, Real baseRadius=0.5)
DecorativeCone & setOpacity(Real o)
Definition: DecorativeGeometry.h:718
DecorativeCone & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:720
DecorativeCone & setHeight(Real length)
DecorativeCone & setBodyId(int b)
Definition: DecorativeGeometry.h:711
This defines a cylinder centered on the origin and aligned in the y direction.
Definition: DecorativeGeometry.h:455
DecorativeCylinder & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:466
DecorativeCylinder & setOpacity(Real o)
Definition: DecorativeGeometry.h:472
DecorativeCylinder & setHalfHeight(Real)
DecorativeCylinder & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:474
Real getHalfHeight() const
DecorativeCylinder & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:470
DecorativeCylinder & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:468
DecorativeCylinder & setLineThickness(Real t)
Definition: DecorativeGeometry.h:473
DecorativeCylinder & setUserRef(void *p)
Definition: DecorativeGeometry.h:467
DecorativeCylinder & setResolution(Real r)
Definition: DecorativeGeometry.h:469
DecorativeCylinder & setRadius(Real)
DecorativeCylinder & setBodyId(int b)
Definition: DecorativeGeometry.h:465
DecorativeCylinder(Real radius=0.5, Real halfHeight=0.5)
SimTK_PIMPL_DOWNCAST(DecorativeCylinder, DecorativeGeometry)
DecorativeCylinder & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:471
This defines an ellipsoidal solid centered at the origin and aligned with the local frame axes.
Definition: DecorativeGeometry.h:396
DecorativeEllipsoid & setRadii(const Vec3 &)
DecorativeEllipsoid & setResolution(Real r)
Definition: DecorativeGeometry.h:409
DecorativeEllipsoid & setBodyId(int b)
Definition: DecorativeGeometry.h:405
DecorativeEllipsoid & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:406
DecorativeEllipsoid & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:408
DecorativeEllipsoid & setUserRef(void *p)
Definition: DecorativeGeometry.h:407
DecorativeEllipsoid & setLineThickness(Real t)
Definition: DecorativeGeometry.h:413
SimTK_PIMPL_DOWNCAST(DecorativeEllipsoid, DecorativeGeometry)
DecorativeEllipsoid & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:414
DecorativeEllipsoid & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:410
DecorativeEllipsoid & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:411
const Vec3 & getRadii() const
DecorativeEllipsoid(const Vec3 &radii=Vec3(Real(0.5), Real(1/3.), Real(0.25)))
DecorativeEllipsoid & setOpacity(Real o)
Definition: DecorativeGeometry.h:412
This defines geometry to represent a coordinate frame.
Definition: DecorativeGeometry.h:486
Real getAxisLength() const
DecorativeFrame & setOpacity(Real o)
Definition: DecorativeGeometry.h:501
DecorativeFrame & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:499
DecorativeFrame & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:495
DecorativeFrame & setAxisLength(Real)
DecorativeFrame & setUserRef(void *p)
Definition: DecorativeGeometry.h:496
DecorativeFrame & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:500
DecorativeFrame & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:503
DecorativeFrame & setResolution(Real r)
Definition: DecorativeGeometry.h:498
SimTK_PIMPL_DOWNCAST(DecorativeFrame, DecorativeGeometry)
DecorativeFrame(Real axisLength=1)
DecorativeFrame & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:497
DecorativeFrame & setLineThickness(Real t)
Definition: DecorativeGeometry.h:502
DecorativeFrame & setBodyId(int b)
Definition: DecorativeGeometry.h:494
Use this abstract class to connect your implementation of decorative geometry to the implementation-i...
Definition: DecorativeGeometry.h:782
virtual void implementLineGeometry(const DecorativeLine &)=0
virtual void implementBrickGeometry(const DecorativeBrick &)=0
virtual void implementTextGeometry(const DecorativeText &)=0
virtual void implementMeshGeometry(const DecorativeMesh &)=0
virtual ~DecorativeGeometryImplementation()
Definition: DecorativeGeometry.h:784
virtual void implementArrowGeometry(const DecorativeArrow &)=0
virtual void implementPointGeometry(const DecorativePoint &)=0
virtual void implementCircleGeometry(const DecorativeCircle &)=0
virtual void implementMeshFileGeometry(const DecorativeMeshFile &)=0
virtual void implementSphereGeometry(const DecorativeSphere &)=0
virtual void implementFrameGeometry(const DecorativeFrame &)=0
virtual void implementTorusGeometry(const DecorativeTorus &)=0
virtual void implementCylinderGeometry(const DecorativeCylinder &)=0
virtual void implementEllipsoidGeometry(const DecorativeEllipsoid &)=0
virtual void implementConeGeometry(const DecorativeCone &)=0
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
void implementGeometry(DecorativeGeometryImplementation &) const
DecorativeGeometry()
Default constructor creates an empty handle.
Definition: DecorativeGeometry.h:89
DecorativeGeometry & operator=(const DecorativeGeometry &source)
Copy assignment is deep; the handle will be cleared if necessary and then the source object will be c...
Representation
Drawing modes.
Definition: DecorativeGeometry.h:99
DecorativeGeometry & setColor(const Vec3 &rgb)
Request a specific color for this DecorativeGeometry object.
Real getLineThickness() const
Return the line thickness specified for this object, if any, otherwise return -1 to indicate that the...
DecorativeGeometryRep & updRep()
Definition: DecorativeGeometry.h:259
const DecorativeGeometryRep & getRep() const
Definition: DecorativeGeometry.h:258
DecorativeGeometry(const DecorativeGeometry &source)
Copy construction is deep; the source object will be cloned to create an independent copy.
DecorativeGeometry & setScale(Real scale)
Convenience method to set all three scale factors to the same value.
Definition: DecorativeGeometry.h:171
const Transform & getTransform() const
Return the current value of the object's transform.
DecorativeGeometry & setBodyId(int bodyId)
By default the geometry should be placed relative to the Ground frame.
Real getResolution() const
Return the current setting of the "resolution" factor.
bool isEmptyHandle() const
int getBodyId() const
Return the bodyId that was supplied to the most recent setBodyId() call for this DecorativeGeometry o...
bool hasRep() const
Definition: DecorativeGeometry.h:257
void * getUserRef() const
Return the pointer value that was supplied to the most recent setUserRef() call for this DecorativeGe...
DecorativeGeometry & setIndexOnBody(int index)
For selection or other purposes, you may want to use this method to store an index that can identify ...
DecorativeGeometry & setTransform(const Transform &X_BG)
This transform shifts the generated polygons with respect to this object's local frame.
DecorativeGeometry & setUserRef(void *userRef)
Use this method to store an arbitrary reference pointer with this DecorativeGeometry object.
bool isOwnerHandle() const
DecorativeGeometry & setLineThickness(Real)
Request an adjustment to the default rendering of lines and curves.
DecorativeGeometryRep * rep
Definition: DecorativeGeometry.h:261
Representation getRepresentation() const
Returns drawing mode: -1 means "use default"; see above for others.
DecorativeGeometry & setRepresentation(const Representation &)
Request a particular rendering representation of this DecorativeGeometry object.
const Vec3 & getColor() const
Return the color specified for this object, if any, otherwise Vec3(-1) indicating that the default co...
Real getOpacity() const
Return the opacity specified for this object.
DecorativeGeometry(class DecorativeGeometryRep *r)
Definition: DecorativeGeometry.h:256
DecorativeGeometry & setScaleFactors(const Vec3 &scale)
Each concrete DecorativeGeometry object is expected to have a default size around "1",...
int getIndexOnBody() const
Return the index that was supplied to the most recent setIndexOnBody() call for this DecorativeGeomet...
DecorativeGeometry & setResolution(Real)
Each concrete DecorativeGeometry object is expected to have a default resolution that gets the point ...
const Vec3 & getScaleFactors() const
Return the current setting of the "scale" factors.
DecorativeGeometry & setOpacity(Real)
Request a level of transparency for this DecorativeGeometry.
int getFaceCamera() const
Get whether the geometry acts as a billboard, always rotating to face the camera.
DecorativeGeometry & setFaceCamera(int shouldFace)
Set whether the geometry acts as a billboard, always rotating to face the camera.
A line between two points.
Definition: DecorativeGeometry.h:306
SimTK_PIMPL_DOWNCAST(DecorativeLine, DecorativeGeometry)
DecorativeLine & setLineThickness(Real t)
Definition: DecorativeGeometry.h:324
DecorativeLine(const Vec3 &p1=Vec3(0), const Vec3 &p2=Vec3(1))
DecorativeLine & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:317
DecorativeLine & setEndpoints(const Vec3 &p1, const Vec3 &p2)
DecorativeLine & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:322
DecorativeLine & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:319
DecorativeLine & setPoint2(const Vec3 &p2)
DecorativeLine & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:325
DecorativeLine & setResolution(Real r)
Definition: DecorativeGeometry.h:320
DecorativeLine & setOpacity(Real o)
Definition: DecorativeGeometry.h:323
DecorativeLine & setUserRef(void *p)
Definition: DecorativeGeometry.h:318
DecorativeLine & setBodyId(int b)
Definition: DecorativeGeometry.h:316
const Vec3 & getPoint1() const
const Vec3 & getPoint2() const
DecorativeLine & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:321
DecorativeLine & setPoint1(const Vec3 &p1)
This defines a displayable mesh by referencing a file name containing the mesh.
Definition: DecorativeGeometry.h:579
DecorativeMeshFile & setOpacity(Real o)
Definition: DecorativeGeometry.h:595
const PolygonalMesh & getMesh() const
Load the mesh from file and return a reference.
DecorativeMeshFile & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:594
DecorativeMeshFile(const std::string &meshFileName)
DecorativeMeshFile & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:591
DecorativeMeshFile & setLineThickness(Real t)
Definition: DecorativeGeometry.h:596
const std::string & getMeshFile() const
DecorativeMeshFile & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:597
DecorativeMeshFile & setUserRef(void *p)
Definition: DecorativeGeometry.h:590
DecorativeMeshFile & setBodyId(int b)
Definition: DecorativeGeometry.h:588
DecorativeMeshFile & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:589
DecorativeMeshFile & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:593
DecorativeMeshFile & setResolution(Real r)
Definition: DecorativeGeometry.h:592
SimTK_PIMPL_DOWNCAST(DecorativeMeshFile, DecorativeGeometry)
This defines a displayable mesh by referencing an already-existing PolygonalMesh object.
Definition: DecorativeGeometry.h:549
DecorativeMesh & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:556
DecorativeMesh & setBodyId(int b)
Definition: DecorativeGeometry.h:555
DecorativeMesh & setUserRef(void *p)
Definition: DecorativeGeometry.h:557
DecorativeMesh & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:561
SimTK_PIMPL_DOWNCAST(DecorativeMesh, DecorativeGeometry)
DecorativeMesh & setResolution(Real r)
Definition: DecorativeGeometry.h:559
DecorativeMesh(const PolygonalMesh &mesh)
DecorativeMesh & setOpacity(Real o)
Definition: DecorativeGeometry.h:562
DecorativeMesh & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:560
DecorativeMesh & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:558
DecorativeMesh & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:564
const PolygonalMesh & getMesh() const
DecorativeMesh & setLineThickness(Real t)
Definition: DecorativeGeometry.h:563
A point of interest.
Definition: DecorativeGeometry.h:269
DecorativePoint & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:285
DecorativePoint & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:284
DecorativePoint & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:288
DecorativePoint & setResolution(Real r)
Definition: DecorativeGeometry.h:283
const Vec3 & getPoint() const
DecorativePoint & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:280
DecorativePoint & setLineThickness(Real t)
Definition: DecorativeGeometry.h:287
DecorativePoint & setBodyId(int b)
Definition: DecorativeGeometry.h:279
DecorativePoint(const Vec3 &p=Vec3(0))
DecorativePoint & setOpacity(Real o)
Definition: DecorativeGeometry.h:286
DecorativePoint & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:282
SimTK_PIMPL_DOWNCAST(DecorativePoint, DecorativeGeometry)
DecorativePoint & setUserRef(void *p)
Definition: DecorativeGeometry.h:281
DecorativePoint & setPoint(const Vec3 &p)
This defines a sphere centered at the origin.
Definition: DecorativeGeometry.h:367
DecorativeSphere & setLineThickness(Real t)
Definition: DecorativeGeometry.h:383
SimTK_PIMPL_DOWNCAST(DecorativeSphere, DecorativeGeometry)
DecorativeSphere & setRadius(Real)
DecorativeSphere & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:384
DecorativeSphere & setOpacity(Real o)
Definition: DecorativeGeometry.h:382
DecorativeSphere(Real radius=0.5)
DecorativeSphere & setUserRef(void *p)
Definition: DecorativeGeometry.h:377
DecorativeSphere & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:376
DecorativeSphere & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:378
DecorativeSphere & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:381
DecorativeSphere & setResolution(Real r)
Definition: DecorativeGeometry.h:379
DecorativeSphere & setBodyId(int b)
Definition: DecorativeGeometry.h:375
DecorativeSphere & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:380
This defines a text label with its base at the origin.
Definition: DecorativeGeometry.h:514
DecorativeText & setResolution(Real r)
Definition: DecorativeGeometry.h:531
DecorativeText & setFaceCamera(int yn)
Definition: DecorativeGeometry.h:536
DecorativeText & setBodyId(int b)
Definition: DecorativeGeometry.h:527
DecorativeText & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:537
bool getIsScreenText() const
DecorativeText & setOpacity(Real o)
Definition: DecorativeGeometry.h:534
DecorativeText(const std::string &label="")
DecorativeText & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:533
DecorativeText & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:530
DecorativeText & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:528
const std::string & getText() const
DecorativeText & setIsScreenText(bool isScreen)
By default the text is part of the scene; set this flag if you want it to just show up in a fixed spo...
DecorativeText & setLineThickness(Real t)
Definition: DecorativeGeometry.h:535
SimTK_PIMPL_DOWNCAST(DecorativeText, DecorativeGeometry)
DecorativeText & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:532
DecorativeText & setText(const std::string &label)
DecorativeText & setUserRef(void *p)
Definition: DecorativeGeometry.h:529
This defines a displayable torus, the torus is centered at the origin with the axial direction aligne...
Definition: DecorativeGeometry.h:612
DecorativeTorus & setBodyId(int b)
Definition: DecorativeGeometry.h:622
DecorativeTorus & setResolution(Real r)
Definition: DecorativeGeometry.h:626
DecorativeTorus(Real torusR=1, Real tubeR=0.1)
DecorativeTorus & setLineThickness(Real t)
Definition: DecorativeGeometry.h:630
SimTK_PIMPL_DOWNCAST(DecorativeTorus, DecorativeGeometry)
Real getTubeRadius() const
Real getTorusRadius() const
DecorativeTorus & setRepresentation(const Representation &r)
Definition: DecorativeGeometry.h:631
DecorativeTorus & setOpacity(Real o)
Definition: DecorativeGeometry.h:629
DecorativeTorus & setTorusRadius(Real)
DecorativeTorus & setTubeRadius(Real)
DecorativeTorus & setScaleFactors(const Vec3 &s)
Definition: DecorativeGeometry.h:627
DecorativeTorus & setColor(const Vec3 &rgb)
Definition: DecorativeGeometry.h:628
DecorativeTorus & setIndexOnBody(int x)
Definition: DecorativeGeometry.h:623
DecorativeTorus & setTransform(const Transform &X_BD)
Definition: DecorativeGeometry.h:625
DecorativeTorus & setUserRef(void *p)
Definition: DecorativeGeometry.h:624
This class provides a description of a mesh made of polygonal faces (not limited to triangles).
Definition: PolygonalMesh.h:79
Vec< 3 > Vec3
This is the most common 3D vector type: a column of 3 Real values stored consecutively in memory (pac...
Definition: SmallMatrix.h:129
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
const Vec3 Orange
RGB=( 1,.5, 0)
const Vec3 Blue
RGB=( 0, 0, 1)
const Vec3 Gray
RGB=(.5,.5,.5)
const Vec3 White
RGB=( 1, 1, 1)
const Vec3 Black
RGB=( 0, 0, 0)
UnitVec< Real, 1 > UnitVec3
Definition: UnitVec.h:41
const Vec3 Magenta
RGB=( 1, 0, 1)
const Vec3 Red
RGB=( 1, 0, 0)
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:607
const Vec3 Yellow
RGB=( 1, 1, 0)
const Vec3 Cyan
RGB=( 0, 1, 1)
const Vec3 Purple
RGB=(.5, 0,.5)
const Vec3 Green
RGB=( 0, 1, 0)