/usr/include/SurgSim/Blocks/VisualizeContactsBehavior.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 | // This file is a part of the OpenSurgSim project.
// Copyright 2013-2015, 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_VISUALIZECONTACTSBEHAVIOR_H
#define SURGSIM_BLOCKS_VISUALIZECONTACTSBEHAVIOR_H
#include <memory>
#include <string>
#include "SurgSim/Framework/Behavior.h"
#include "SurgSim/Framework/ObjectFactory.h"
namespace SurgSim
{
namespace Graphics
{
class VectorFieldRepresentation;
}
namespace Collision
{
class Representation;
}
namespace Blocks
{
SURGSIM_STATIC_REGISTRATION(VisualizeContactsBehavior);
/// This behavior is used to visualize the contacts
/// on collision representation through vector field
class VisualizeContactsBehavior: public SurgSim::Framework::Behavior
{
public:
/// Constructor
/// \param name Name of the behavior
explicit VisualizeContactsBehavior(const std::string& name);
SURGSIM_CLASSNAME(SurgSim::Blocks::VisualizeContactsBehavior);
/// Get the source of the contacts
/// \return The collision representation whose contacts will be visualized.
std::shared_ptr<SurgSim::Framework::Component> getSource();
/// Set the source of the contacts
/// \param source The collision representation whose contacts will be visualized.
void setSource(std::shared_ptr<SurgSim::Framework::Component> source);
void update(double dt) override;
int getTargetManagerType() const override;
/// \return The scale of the vector field.
double getVectorFieldScale();
/// Set the scale of vector field, default 1.0.
// \param scale The scale of the vector field.
void setVectorFieldScale(double scale);
protected:
bool doInitialize() override;
bool doWakeUp() override;
private:
/// The collision representation to get contacts for visualizing.
std::shared_ptr<SurgSim::Collision::Representation> m_source;
/// The osg vector field for visualizing contacts on collision representation
std::shared_ptr<SurgSim::Graphics::VectorFieldRepresentation> m_vectorField;
};
} // namespace Blocks
} // namespace SurgSim
#endif // SURGSIM_BLOCKS_VISUALIZECONTACTSBEHAVIOR_H
|