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16 #ifndef SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H
17 #define SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H
38 class VectorFieldRepresentation;
43 SURGSIM_STATIC_REGISTRATION(VisualizeConstraintsBehavior);
59 const std::shared_ptr<Framework::Component>& vectorField);
61 typedef std::vector<std::pair<int, std::shared_ptr<Framework::Component>>>
FieldsType;
70 void update(
double dt)
override;
82 std::weak_ptr<SurgSim::Physics::PhysicsManager>
m_manager;
84 std::map<SurgSim::Physics::ConstraintGroupType, std::shared_ptr<SurgSim::Graphics::VectorFieldRepresentation>>
89 std::shared_ptr<SurgSim::Framework::Logger>
m_logger;
103 #endif // SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H
std::weak_ptr< SurgSim::Physics::PhysicsManager > m_manager
Need reference to physics manager for introspection into the state.
Definition: VisualizeConstraints.h:82
VisualizeConstraints(const std::string &name="ConstraintVisualization")
Definition: VisualizeConstraints.cpp:194
Simple concrete implementation of a scene element that does not have any higher logic.
Definition: BasicSceneElement.h:30
Behaviors perform actions.
Definition: Behavior.h:41
int getTargetManagerType() const override
Specifies which manger will handle this behavior.
Definition: VisualizeConstraints.cpp:160
SURGSIM_CLASSNAME(SurgSim::Blocks::VisualizeConstraintsBehavior)
void update(double dt) override
Update the behavior.
Definition: VisualizeConstraints.cpp:54
bool doInitialize() override
Interface to be implemented by derived classes.
Definition: VisualizeConstraints.cpp:165
Definition: CompoundShapeToGraphics.cpp:30
void setVectorField(Physics::ConstraintGroupType constraintType, const std::shared_ptr< Framework::Component > &vectorField)
Set the graphics Vectorfield to be used to display the constraint of the given physics manager group.
Definition: VisualizeConstraints.cpp:42
Behavior to visualize information about the constraints as they are in the physics manager this will ...
Definition: VisualizeConstraints.h:49
void setVectorFields(const FieldsType &fields)
Sets all of the fields in one swoop.
Definition: VisualizeConstraints.cpp:176
FieldsType getVectorFields() const
Definition: VisualizeConstraints.cpp:184
std::map< SurgSim::Physics::ConstraintGroupType, std::shared_ptr< SurgSim::Graphics::VectorFieldRepresentation > > m_graphics
Definition: VisualizeConstraints.h:85
ConstraintGroupType
Definition: PhysicsManagerState.h:42
SceneElement that generates the VisualizeConstraintBehavior and the appropriate graphics Vectorfield.
Definition: VisualizeConstraints.h:94
VisualizeConstraintsBehavior(const std::string &name)
Definition: VisualizeConstraints.cpp:34
bool doWakeUp() override
Interface to be implemented by derived classes.
Definition: VisualizeConstraints.cpp:171
std::vector< std::pair< int, std::shared_ptr< Framework::Component > > > FieldsType
Definition: VisualizeConstraints.h:61
string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_$
Definition: CMakeLists.txt:38
boost::mutex m_graphicsMutex
Definition: VisualizeConstraints.h:87
std::shared_ptr< SurgSim::Framework::Logger > m_logger
Definition: VisualizeConstraints.h:89