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/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <dart/dart.hpp>
#include <dart/gui/osg/osg.hpp>
#include <pybind11/pybind11.h>
PYBIND11_DECLARE_HOLDER_TYPE(T, ::osg::ref_ptr<T>, true);
namespace py = pybind11;
namespace dart {
namespace python {
class PyRealTimeWorldNodeNode : public dart::gui::osg::RealTimeWorldNode
{
public:
// Inherit the constructors
using RealTimeWorldNode::RealTimeWorldNode;
// Trampoline for virtual function
void refresh() override
{
PYBIND11_OVERLOAD(
void, // Return type
RealTimeWorldNode, // Parent class
refresh, // Name of function in C++ (must match Python name)
);
}
// Trampoline for virtual function
void customPreRefresh() override
{
PYBIND11_OVERLOAD(
void, // Return type
RealTimeWorldNode, // Parent class
customPreRefresh, // Name of function in C++ (must match Python name)
);
}
// Trampoline for virtual function
void customPostRefresh() override
{
PYBIND11_OVERLOAD(
void, // Return type
RealTimeWorldNode, // Parent class
customPostRefresh, // Name of function in C++ (must match Python name)
);
}
// Trampoline for virtual function
void customPreStep() override
{
PYBIND11_OVERLOAD(
void, // Return type
RealTimeWorldNode, // Parent class
customPreStep, // Name of function in C++ (must match Python name)
);
}
// Trampoline for virtual function
void customPostStep() override
{
PYBIND11_OVERLOAD(
void, // Return type
RealTimeWorldNode, // Parent class
customPostStep, // Name of function in C++ (must match Python name)
);
}
};
void RealTimeWorldNode(py::module& m)
{
::py::class_<
dart::gui::osg::RealTimeWorldNode,
dart::gui::osg::WorldNode,
PyRealTimeWorldNodeNode,
::osg::ref_ptr<dart::gui::osg::RealTimeWorldNode>>(m, "RealTimeWorldNode")
.def(::py::init<>())
.def(
::py::init<const std::shared_ptr<dart::simulation::World>&>(),
::py::arg("world"))
.def(
::py::init<
const std::shared_ptr<dart::simulation::World>&,
const osg::ref_ptr<osgShadow::ShadowTechnique>&>(),
::py::arg("world"),
::py::arg("shadower"))
.def(
::py::init<
const std::shared_ptr<dart::simulation::World>&,
const osg::ref_ptr<osgShadow::ShadowTechnique>&,
double>(),
::py::arg("world"),
::py::arg("shadower"),
::py::arg("targetFrequency"))
.def(
::py::init<
const std::shared_ptr<dart::simulation::World>&,
const osg::ref_ptr<osgShadow::ShadowTechnique>&,
double,
double>(),
::py::arg("world"),
::py::arg("shadower"),
::py::arg("targetFrequency"),
::py::arg("targetRealTimeFactor"))
.def(
"setTargetFrequency",
+[](dart::gui::osg::RealTimeWorldNode* self, double targetFrequency) {
self->setTargetFrequency(targetFrequency);
},
::py::arg("targetFrequency"))
.def(
"getTargetFrequency",
+[](const dart::gui::osg::RealTimeWorldNode* self) -> double {
return self->getTargetFrequency();
})
.def(
"setTargetRealTimeFactor",
+[](dart::gui::osg::RealTimeWorldNode* self, double targetRTF) {
self->setTargetRealTimeFactor(targetRTF);
},
::py::arg("targetRTF"))
.def(
"getTargetRealTimeFactor",
+[](const dart::gui::osg::RealTimeWorldNode* self) -> double {
return self->getTargetRealTimeFactor();
})
.def(
"getLastRealTimeFactor",
+[](const dart::gui::osg::RealTimeWorldNode* self) -> double {
return self->getLastRealTimeFactor();
})
.def(
"getLowestRealTimeFactor",
+[](const dart::gui::osg::RealTimeWorldNode* self) -> double {
return self->getLowestRealTimeFactor();
})
.def(
"getHighestRealTimeFactor",
+[](const dart::gui::osg::RealTimeWorldNode* self) -> double {
return self->getHighestRealTimeFactor();
})
.def(
"refresh",
+[](dart::gui::osg::RealTimeWorldNode* self) { self->refresh(); });
}
} // namespace python
} // namespace dart
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