VTKVisualizer.h

Go to the documentation of this file.

#ifndef SimTK_SIMBODY_VTK_REPORTER_H_
#define SimTK_SIMBODY_VTK_REPORTER_H_

/* -------------------------------------------------------------------------- *
 *                      SimTK Core: SimTK Simbody(tm)                         *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK Core biosimulation toolkit originating from      *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org.               *
 *                                                                            *
 * Portions copyright (c) 2006-7 Stanford University and the Authors.         *
 * Authors: Michael Sherman                                                   *
 * Contributors:                                                              *
 *                                                                            *
 * Permission is hereby granted, free of charge, to any person obtaining a    *
 * copy of this software and associated documentation files (the "Software"), *
 * to deal in the Software without restriction, including without limitation  *
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,   *
 * and/or sell copies of the Software, and to permit persons to whom the      *
 * Software is furnished to do so, subject to the following conditions:       *
 *                                                                            *
 * The above copyright notice and this permission notice shall be included in *
 * all copies or substantial portions of the Software.                        *
 *                                                                            *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,   *
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL    *
 * THE AUTHORS, CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,    *
 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR      *
 * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE  *
 * USE OR OTHER DEALINGS IN THE SOFTWARE.                                     *
 * -------------------------------------------------------------------------- */


#include "simbody/internal/common.h"

#include <cassert>
#include <cmath>
#include <cstdio>
#include <exception>
#include <vector>


namespace SimTK {

class State;
class MultibodySystem;
class DecorativeGeometry;

class SimTK_SIMBODY_EXPORT VTKVisualizer  {
public:
    VTKVisualizer() : rep(0) { }

    explicit VTKVisualizer(const MultibodySystem& m);

    VTKVisualizer(const VTKVisualizer&);
    ~VTKVisualizer();
    VTKVisualizer& operator=(const VTKVisualizer&);

    void report(const State& s) const;

    void setCameraLocation(const Vec3&);
    void setCameraFocalPoint(const Vec3&);
    void setCameraUpDirection(const Vec3&);
    void setCameraClippingRange(Real nearPlane, Real farPlane);
    void zoomCameraToIncludeAllGeometry();
    void zoomCamera(Real);

    void addDecoration(MobilizedBodyIndex, const Transform& X_BD, const DecorativeGeometry&);

    void addRubberBandLine(MobilizedBodyIndex b1, const Vec3& station1, 
                           MobilizedBodyIndex b2, const Vec3& station2,
                           const DecorativeLine&);

    void addEphemeralDecoration(const DecorativeGeometry&);
 
    bool isOwnerHandle() const;
    bool isEmptyHandle() const;

    // Internal use only
    explicit VTKVisualizer(class VTKVisualizerRep* r) : rep(r) { }
    bool                  hasRep() const {return rep!=0;}
    const VTKVisualizerRep& getRep() const {assert(rep); return *rep;}
    VTKVisualizerRep&       updRep() const {assert(rep); return *rep;}
protected:
    class VTKVisualizerRep* rep;
};

} // namespace SimTK

#endif // SimTK_SIMBODY_VTK_REPORTER_H_