tgSimView.h

Go to the documentation of this file.

/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is 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 TG_SIM_VIEW_H
#define TG_SIM_VIEW_H

// Forward declarations
class tgModelVisitor;
class tgSimulation;
class tgWorld;

class tgSimView
{

  friend class tgSimulation;

public:

    tgSimView(tgWorld& world,
          double stepSize = 1.0/120.0,
          double renderRate = 1.0/60.0);

    ~tgSimView();

    tgWorld& world() { return m_world; }

    virtual void setup();
   
    virtual void teardown();
    
    virtual void run();
                
    virtual void run(int steps);

    virtual void render() const;
    
    virtual void render(const tgModelVisitor& r) const;
    
    // tgSimulation handles calling teardown and setup on this,
    // since it knows when the new world is available
    virtual void reset();

    void setRenderRate(double renderRate);
    
    double getRenderRate() const { return m_renderRate; }
    
    void setStepSize(double stepSize);
    
    double getStepSize() const { return m_stepSize; }
    
protected:

    void bindToSimulation(tgSimulation& simulation);

    void releaseFromSimulation();

    void bindToWorld(tgWorld& world);

    bool isInitialzed() const { return m_initialized; }
    
protected:

    tgSimulation* m_pSimulation;

    tgModelVisitor * m_pModelVisitor;

    double m_stepSize;

    double m_renderRate;
    
    double m_renderTime;
    
private:

    bool invariant() const;

private:

    tgWorld& m_world;

    bool m_initialized;
};

#endif  // TG_SIM_VIEW_H