/usr/include/SurgSim/Blocks/VisualizeConstraints.h is in libopensurgsim-dev 0.7.0-6ubuntu1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 | // This file is a part of the OpenSurgSim project.
// Copyright 2013-2016, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H
#define SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H
#include "SurgSim/Framework/BasicSceneElement.h"
#include "SurgSim/Framework/Behavior.h"
#include "SurgSim/Physics/PhysicsManagerState.h"
namespace SurgSim
{
namespace Physics
{
class PhysicsManager;
}
namespace Framework
{
class Logger;
}
namespace Graphics
{
class VectorFieldRepresentation;
}
namespace Blocks
{
SURGSIM_STATIC_REGISTRATION(VisualizeConstraintsBehavior);
/// Behavior to visualize information about the constraints as they are in the physics manager
/// this will show the constraint location and the force from the last iteration of the physics manager
/// \note currently only two types of constraint are being visualized MLCP_BILATERAL_3D_CONSTRAINT and
/// MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT
class VisualizeConstraintsBehavior : public SurgSim::Framework::Behavior
{
public:
explicit VisualizeConstraintsBehavior(const std::string& name);
SURGSIM_CLASSNAME(SurgSim::Blocks::VisualizeConstraintsBehavior);
/// Set the graphics Vectorfield to be used to display the constraint of the given physics manager group
/// \param constraintType internal group type e.g. CONSTRAINT_GROUP_TYPE_CONTACT
/// \param vectorField vectorField to be used for visualization of this constraint group
void setVectorField(Physics::ConstraintGroupType constraintType,
const std::shared_ptr<Framework::Component>& vectorField);
typedef std::vector<std::pair<int, std::shared_ptr<Framework::Component>>> FieldsType;
/// Sets all of the fields in one swoop
/// \param fields list of all the fields and their constraint group
void setVectorFields(const FieldsType& fields);
/// \return all the vector fields used in this behavior
FieldsType getVectorFields() const;
void update(double dt) override;
int getTargetManagerType() const override;
private:
bool doInitialize() override;
bool doWakeUp() override;
/// Need reference to physics manager for introspection into the state
std::weak_ptr<SurgSim::Physics::PhysicsManager> m_manager;
std::map<SurgSim::Physics::ConstraintGroupType, std::shared_ptr<SurgSim::Graphics::VectorFieldRepresentation>>
m_graphics;
boost::mutex m_graphicsMutex;
std::shared_ptr<SurgSim::Framework::Logger> m_logger;
};
/// SceneElement that generates the VisualizeConstraintBehavior and the appropriate graphics Vectorfield
class VisualizeConstraints : public SurgSim::Framework::BasicSceneElement
{
public:
explicit VisualizeConstraints(const std::string& name = "ConstraintVisualization");
};
}; // namespace Blocks
}; // namespace SurgSim
#endif // SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H
|