Visualizer.h

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#ifndef SimTK_SIMBODY_VISUALIZER_H_
#define SimTK_SIMBODY_VISUALIZER_H_

/* -------------------------------------------------------------------------- *
 *                              SimTK Simbody(tm)                             *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK 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) 2010 Stanford University and the Authors.           *
 * Authors: Peter Eastman, 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 <utility> // for std::pair

namespace SimTK {

class MultibodySystem;
class DecorationGenerator;

class SimTK_SIMBODY_EXPORT Visualizer {
public:
class FrameController; // defined below
class InputListener;   // defined in Visualizer_InputListener.h
class InputSilo;       //                 "
class Reporter;        // defined in Visualizer_Reporter.h


Visualizer(const MultibodySystem& system);
Visualizer(const Visualizer& src);
Visualizer& operator=(const Visualizer& src);
~Visualizer();

enum Mode {
    PassThrough = 1,
    Sampling    = 2,
    RealTime    = 3
};

enum BackgroundType {
    GroundAndSky = 1,
    SolidColor   = 2
};

enum PredefinedMenuIds {
    ViewMenuId    = -1
};

Visualizer& setBackgroundType(BackgroundType background);


const Visualizer& setBackgroundColor(const Vec3& color) const;

const Visualizer& setShowShadows(bool showShadows) const;

const Visualizer& setWindowTitle(const String& title) const;
Visualizer& setSystemUpDirection(const CoordinateDirection& upDirection);
CoordinateDirection getSystemUpDirection() const;

Visualizer& setGroundHeight(Real height);
Real getGroundHeight() const;


void setMode(Mode mode);
Mode getMode() const;

Visualizer& setDesiredFrameRate(Real framesPerSec);
Real getDesiredFrameRate() const;

Visualizer& setRealTimeScale(Real simTimePerRealSecond);
Real getRealTimeScale() const;

Visualizer& setDesiredBufferLengthInSec(Real bufferLengthInSec);
Real getDesiredBufferLengthInSec() const;
Real getActualBufferLengthInSec() const;
int getActualBufferLengthInFrames() const;

Visualizer& addInputListener(InputListener* listener);

Visualizer& addFrameController(FrameController* controller);

void report(const State& state) const;

void flushFrames() const;

void drawFrameNow(const State& state) const;
Visualizer& addMenu(const String& title, int id, 
                   const Array_<std::pair<String, int> >& items);

Visualizer& addSlider(const String& title, int id, Real min, Real max, Real value);

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

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

Visualizer& addDecorationGenerator(DecorationGenerator* generator);
const Visualizer& setCameraTransform(const Transform& X_GC) const;

const Visualizer& zoomCameraToShowAllGeometry() const;

const Visualizer& pointCameraAt(const Vec3& point, const Vec3& upDirection) const;

const Visualizer& setCameraFieldOfView(Real fov) const;

const Visualizer& setCameraClippingPlanes(Real nearPlane, Real farPlane) const;

const Visualizer& setSliderValue(int slider, Real value) const;

const Visualizer& setSliderRange(int slider, Real newMin, Real newMax) const;


void dumpStats(std::ostream& o) const;
void clearStats();
const Array_<InputListener*>&   getInputListeners() const;
const Array_<FrameController*>& getFrameControllers() const;
const MultibodySystem&          getSystem() const;
int getRefCount() const;
class Impl;
//--------------------------------------------------------------------------
                                private:
explicit Visualizer(Impl* impl);
Impl* impl;

const Impl& getImpl() const {assert(impl); return *impl;}
Impl&       updImpl()       {assert(impl); return *impl;}
friend class Impl;
};

class SimTK_SIMBODY_EXPORT Visualizer::FrameController {
public:
    virtual void generateControls(const Visualizer&           viz, 
                                  const State&                state,
                                  Array_<DecorativeGeometry>& geometry) = 0;

    virtual ~FrameController() {}
};

typedef Visualizer VTKVisualizer;

} // namespace SimTK

#endif // SimTK_SIMBODY_VISUALIZER_H_