DecorativeGeometry.h File Reference

This is the client-side interface to an implementation-independent representation of "Decorations" suitable for visualization, annotation, logging, or debugging but which cannot have any effect on the behavior of a System or the evolution of a Study. More...

#include "SimTKcommon/Simmatrix.h"
#include "SimTKcommon/internal/PolygonalMesh.h"
#include <cassert>

Go to the source code of this file.

Classes
class	SimTK::DecorativeGeometry
	This is an abstract handle class using the PIMPL design pattern to hide the private implementation. More...
class	SimTK::DecorativeLine
	A line between two points. More...
class	SimTK::DecorativeCircle
	This defines a circle in the x-y plane, centered at the origin. More...
class	SimTK::DecorativeSphere
	This defines a sphere centered at the origin. More...
class	SimTK::DecorativeEllipsoid
	This defines an ellipsoidal solid centered at the origin and aligned with the local frame axes. More...
class	SimTK::DecorativeBrick
	This defines a rectangular solid centered at the origin and aligned with the local frame axes. More...
class	SimTK::DecorativeCylinder
	This defines a cylinder centered on the origin and aligned in the y direction. More...
class	SimTK::DecorativeFrame
	This defines geometry to represent a coordinate frame. More...
class	SimTK::DecorativeText
	This defines a text label with its base at the origin. More...
class	SimTK::DecorativeMesh
	This defines a polygonal mesh. More...
class	SimTK::DecorativeGeometryImplementation
	Use this abstract class to connect your implementation of decorative geometry to the implementation-independent classes above. More...
Namespaces
namespace	SimTK
	This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols.
Variables
static const Vec3	SimTK::Black = Vec3( 0, 0, 0)
static const Vec3	SimTK::Gray = Vec3(.5,.5,.5)
static const Vec3	SimTK::Red = Vec3( 1, 0, 0)
static const Vec3	SimTK::Green = Vec3( 0, 1, 0)
static const Vec3	SimTK::Blue = Vec3( 0, 0, 1)
static const Vec3	SimTK::Yellow = Vec3( 1, 1, 0)
static const Vec3	SimTK::Orange = Vec3( 1,.5, 0)
static const Vec3	SimTK::Magenta = Vec3( 1, 0, 1)
static const Vec3	SimTK::Purple = Vec3(.5, 0,.5)
static const Vec3	SimTK::Cyan = Vec3( 0, 1, 1)
static const Vec3	SimTK::White = Vec3( 1, 1, 1)

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Detailed Description

This is the client-side interface to an implementation-independent representation of "Decorations" suitable for visualization, annotation, logging, or debugging but which cannot have any effect on the behavior of a System or the evolution of a Study.

DO NOT confuse this with AnalyticGeometry which can represent physically meaningful objects that may interact and change the behavior of a System. However, an AnalyticGeometry object is likely to generate a corresponding Decoration for visualization.

Why is there a DecorativeGeometry facility at the System level at all, so far away from any application program? That's because for crude visualization and debugging purposes, the Subsystems themselves are best able to produce some illustrative geometry. Otherwise, you need a special purpose visualization tool which understands what's going on inside each subsystem. If you don't mind taking what you get, just ask each subsystem to generate what it thinks would be helpful visualization. To do that, the subysystems need a way to talk about geometry without knowing anything about how that geometry will eventually get onto someone's screen. And that's why we're here!

Each DecorativeGeometry object has its own local coordinate system and is defined self-consistently but independent of anything else. Clients can associate these with a reference frame (e.g. a body), and place the local frame of the geometry objects on the reference frame, or at a fixed transform from the reference frame. That places the DecorativeGeometry objects in a scene. We support both 3D objects which are attached to actors in the scene, and 2D "screen" objects like titles which are attached to the display rather than the actors. The classes here deal only with the local-frame definitions of the geometric objects, not their placement in the scene.