Visualization tools for ApplyForceTorque

include/gz/sim/rendering/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
+{
+  /// \brief Creates, deletes, and maintains force and torque visuals
+  class GZ_SIM_RENDERING_VISIBLE WrenchVisualizer
+  {
+    /// \brief Constructor
+    public: WrenchVisualizer();
+
+    /// \brief Destructor
+    public: ~WrenchVisualizer();
+
+    /// \brief Initialize the Wrench visualizer
+    /// \param[in] _scene The rendering scene where the visuals are created
+    /// \return True if the scene is valid
+    bool Init(rendering::ScenePtr _scene);
+
+    /// \brief Create a new force visual
+    /// \param[in] _material The material used for the visual
+    /// \return Pointer to the created ArrowVisual
+    public: rendering::ArrowVisualPtr CreateForceVisual(
+      rendering::MaterialPtr _material);
+
+    /// \brief Create a new torque visual
+    /// \param[in] _material The material used for the visual
+    /// \return Pointer to the created Visual
+    public: rendering::VisualPtr CreateTorqueVisual(
+      rendering::MaterialPtr _material);
+
+    /// \brief Update the visual of a vector to match its direction and position
+    /// \param[in] _visual Pointer to the vector visual to be updated
+    /// \param[in] _direction Direction of the vector
+    /// \param[in] _position Position of the arrow
+    /// \param[in] _size Size of the arrow in meters
+    /// \param[in] _tip True if _position specifies the tip of the vector,
+    /// false if it specifies tha base of the vector
+    public: void UpdateVectorVisual(rendering::VisualPtr _visual,
+                                    const math::Vector3d &_direction,
+                                    const math::Vector3d &_position,
+                                    const double _size,
+                                    const bool _tip = false);
+
+    /// \internal
+    /// \brief Private data pointer
+    GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
+  };
+}
+}
+}
+}
+#endif