5 #ifndef CNOID_BODY_SCENE_BODY_H 6 #define CNOID_BODY_SCENE_BODY_H 10 #include <cnoid/SceneGraph> 29 void setShapeGroup(
SgGroup* group);
30 void resetShapeGroup();
32 void setVisible(
bool on);
33 void setVisibleShapeTypes(
bool visual,
bool collision);
49 bool isVisualShapeVisible_;
50 bool isCollisionShapeVisible_;
51 std::vector<SceneDevicePtr> sceneDevices_;
55 int cloneShape(
SgCloneMap& cloneMap,
bool doNotify);
56 int updateVisibility(
int action,
bool doNotify);
74 void setVisibleShapeTypes(
bool visual,
bool collision);
80 void updateLinkPositions();
81 void updateLinkPositions(
SgUpdate& update);
84 void setSceneDeviceUpdateConnection(
bool on);
85 void updateSceneDevices();
90 virtual void updateModel();
101 boost::function<SceneLink*(Link*)> sceneLinkFactory;
102 bool isVisualShapeVisible;
103 bool isCollisionShapeVisible;
106 void initialize(
Body* body,
const boost::function<
SceneLink*(
Link*)>& sceneLinkFactory);
const SgNode * collisionShape() const
Definition: SceneBody.h:27
Definition: SceneBody.h:15
ref_ptr< SceneLink > SceneLinkPtr
Definition: SceneBody.h:58
Definition: SceneGraph.h:142
const SgNode * visualShape() const
Definition: SceneBody.h:25
std::vector< SceneDevicePtr > sceneDevices
Definition: SceneBody.h:96
SgNode * visualShape()
Definition: SceneBody.h:26
const Body * body() const
Definition: SceneBody.h:70
Definition: SceneGraph.h:24
int numSceneLinks() const
Definition: SceneBody.h:76
const SceneLink * sceneLink(int index) const
Definition: SceneBody.h:78
std::vector< SceneLinkPtr > sceneLinks_
Definition: SceneBody.h:95
Body * body()
Definition: SceneBody.h:69
ref_ptr< SceneBody > SceneBodyPtr
Definition: SceneBody.h:109
SceneLink * sceneLink(int index)
Definition: SceneBody.h:77
CNOID_EXPORT int makeTransparent(SgNode *topNode, float transparency, SgCloneMap &cloneMap, bool doKeepOrgTransparency=true)
Definition: SceneUtil.cpp:114
Definition: SceneGraph.h:56
Definition: SceneGraph.h:279
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Definition: SceneBody.h:18
SgNode * collisionShape()
Definition: SceneBody.h:28
Definition: SceneDevice.h:20
Definition: SceneGraph.h:160
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
const Link * link() const
Definition: SceneBody.h:23
SgGroupPtr sceneLinkGroup
Definition: SceneBody.h:94
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Definition: SceneBody.h:64
Definition: SceneBody.h:61
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
BodyPtr body_
Definition: SceneBody.h:93
Link * link()
Definition: SceneBody.h:22