1 #ifndef SimTK_SIMBODY_VISUALIZER_H_ 2 #define SimTK_SIMBODY_VISUALIZER_H_ 38 class MultibodySystem;
39 class DecorationGenerator;
229 Visualizer& setShutdownWhenDestructed(
bool shouldShutdown);
234 bool getShutdownWhenDestructed()
const;
307 const Visualizer& setShowShadows(
bool showShadows)
const;
314 const Visualizer& setShowFrameRate(
bool showFrameRate)
const;
321 const Visualizer& setShowSimTime(
bool showSimTime)
const;
328 const Visualizer& setShowFrameNumber(
bool showFrameNumber)
const;
384 Real getGroundHeight()
const;
394 Mode getMode()
const;
410 Real getDesiredFrameRate()
const;
431 Real getRealTimeScale()
const;
462 Real getDesiredBufferLengthInSec()
const;
466 Real getActualBufferLengthInSec()
const;
468 int getActualBufferLengthInFrames()
const;
479 int getNumInputListeners()
const;
494 int getNumFrameControllers()
const;
536 void report(
const State& state)
const;
544 void flushFrames()
const;
550 void drawFrameNow(
const State& state)
const;
582 const Array_<std::pair<String, int> >& items);
607 int getNumDecorations()
const;
623 int getNumRubberBandLines()
const;
639 int getNumDecorationGenerators()
const;
685 const Visualizer& zoomCameraToShowAllGeometry()
const;
719 void dumpStats(std::ostream& o)
const;
729 int getRefCount()
const;
738 const Impl& getImpl()
const {assert(impl);
return *impl;}
739 Impl& updImpl() {assert(impl);
return *impl;}
761 virtual void generateControls(
const Visualizer& viz,
796 const Vec3& stationPinB =
Vec3(0, 0, 0),
800 void generateControls(
807 const Vec3& m_stationPinB;
808 const Vec3& m_offset;
818 #endif // SimTK_SIMBODY_VISUALIZER_H_ Causes the camera to point at and follow a point fixed on a body (a station).
Definition: Visualizer.h:774
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
UnitVec< Real, 1 > UnitVec3
Definition: UnitVec.h:41
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
A CoordinateDirection is a CoordinateAxis plus a direction indicating the positive or negative direct...
Definition: CoordinateAxis.h:244
Mode
These are the operating modes for the Visualizer, with PassThrough the default mode.
Definition: Visualizer.h:239
ELEM min(const VectorBase< ELEM > &v)
Definition: VectorMath.h:178
Every Simbody header and source file should include this header before any other Simbody header...
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:606
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
const Real NaN
This is the IEEE "not a number" constant for this implementation of the default-precision Real type; ...
This abstract class represents an object that will be invoked by the Visualizer just prior to renderi...
Definition: Visualizer.h:748
PredefinedMenuIds
The visualizer may predefine some menus; if you need to refer to one of those use its menu Id as defi...
Definition: Visualizer.h:265
A DecorationGenerator is used to define geometry that may change over the course of a simulation...
Definition: DecorationGenerator.h:45
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition: Array.h:53
This is an EventReporter that makes it easy to generate on-screen movies of any simulation.
Definition: Visualizer_Reporter.h:51
ELEM max(const VectorBase< ELEM > &v)
Definition: VectorMath.h:251
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
Visualizer VTKVisualizer
OBSOLETE: This provides limited backwards compatibility with the old VTK Visualizer that is no longer...
Definition: Visualizer.h:814
SimTK::String is a plug-compatible std::string replacement (plus some additional functionality) inten...
Definition: String.h:62
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:168
BackgroundType
These are the types of backgrounds the visualizer currently supports.
Definition: Visualizer.h:254
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
virtual ~FrameController()
Destructor is virtual; be sure to override it if you have something to clean up at the end...
Definition: Visualizer.h:767
A line between two points.
Definition: DecorativeGeometry.h:306
Provide simple visualization of and interaction with a Simbody simulation, with real time control of ...
Definition: Visualizer.h:147