WrenchVisualizer.hh

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/*
 * Copyright (C) 2023 Open Source Robotics Foundation
 *
 * 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 GZ_SIM_WRENCHVISUALIZER_HH_
#define GZ_SIM_WRENCHVISUALIZER_HH_
 
#include <memory>
 
#include <gz/sim/config.hh>
#include <gz/sim/rendering/Export.hh>
#include <gz/utils/ImplPtr.hh>
 
#include <gz/math/Vector3.hh>
#include <gz/rendering/RenderTypes.hh>
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE
{
namespace detail
{
  class GZ_SIM_RENDERING_VISIBLE WrenchVisualizer
  {
    public: WrenchVisualizer();
 
    public: ~WrenchVisualizer();
 
    bool Init(rendering::ScenePtr _scene);
 
    public: rendering::ArrowVisualPtr CreateForceVisual(
      rendering::MaterialPtr _material);
 
    public: rendering::VisualPtr CreateTorqueVisual(
      rendering::MaterialPtr _material);
 
    public: void UpdateVectorVisual(rendering::VisualPtr _visual,
                                    const math::Vector3d &_direction,
                                    const math::Vector3d &_position,
                                    const double _size,
                                    const bool _tip = false);
 
    GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
  };
}
}
}
}
#endif