WorldItem.h

Go to the documentation of this file.

 
#ifndef CNOID_BODY_PLUGIN_WORLD_ITEM_H
#define CNOID_BODY_PLUGIN_WORLD_ITEM_H
 
#include "BodyItem.h"
#include <cnoid/Item>
#include <cnoid/ItemList>
#include <cnoid/RenderableItem>
#include "exportdecl.h"
 
namespace cnoid {
 
class CollisionDetector;
class MaterialTable;
class MaterialTableItem;
 
class CNOID_EXPORT WorldItem : public Item, public RenderableItem
{
public:
    static void initializeClass(ExtensionManager* ext);
 
    WorldItem();
    WorldItem(const WorldItem& org);
    virtual ~WorldItem();
 
    void storeCurrentBodyPositionsAsInitialPositions();
    void restoreInitialBodyPositions(bool doNotify = true);
 
    ItemList<BodyItem> coldetBodyItems() const;
 
    bool selectCollisionDetector(const std::string& name);
    CollisionDetector* collisionDetector();
    void setCollisionDetectionEnabled(bool on);
    [[deprecated("Use setCollisionDetectionEnabled()")]]
    void enableCollisionDetection(bool on){ setCollisionDetectionEnabled(on); }
    bool isCollisionDetectionEnabled();
    void updateCollisionDetectorLater();
    void updateCollisionDetector();
    void updateCollisions();
    std::vector<CollisionLinkPairPtr>& collisions() const;
    SignalProxy<void()> sigCollisionsUpdated();
 
    void setDefaultMaterialTableFile(const std::string& filename);
    MaterialTable* defaultMaterialTable(bool checkFileUpdate = true);
    MaterialTable* materialTable();
 
    // RenderableItem
    virtual SgNode* getScene() override;
 
    ItemList<BodyItem> collisionBodyItems() const { return coldetBodyItems(); }
 
protected:
    virtual Item* doDuplicate() const override;
    virtual void doPutProperties(PutPropertyFunction& putProperty) override;
    virtual bool store(Archive& archive) override;
    virtual bool restore(const Archive& archive) override;
 
private:
    class Impl;
    Impl* impl;
};
 
typedef ref_ptr<WorldItem> WorldItemPtr;
 
}
 
#endif