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80 lines
3.1 KiB
80 lines
3.1 KiB
2 years ago
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#pragma once
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#include <string>
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#include "drake/common/name_value.h"
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#include "drake/geometry/geometry_roles.h"
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#include "drake/geometry/rgba.h"
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namespace drake {
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namespace geometry {
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/** The set of parameters for configuring MeshcatVisualizer. */
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struct MeshcatVisualizerParams {
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/** Passes this object to an Archive.
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Refer to @ref yaml_serialization "YAML Serialization" for background. */
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template <typename Archive>
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void Serialize(Archive* a) {
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a->Visit(DRAKE_NVP(publish_period));
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a->Visit(DRAKE_NVP(role));
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a->Visit(DRAKE_NVP(default_color));
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a->Visit(DRAKE_NVP(prefix));
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a->Visit(DRAKE_NVP(delete_on_initialization_event));
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a->Visit(DRAKE_NVP(enable_alpha_slider));
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a->Visit(DRAKE_NVP(visible_by_default));
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a->Visit(DRAKE_NVP(show_hydroelastic));
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}
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/** The duration (in simulation seconds) between attempts to update poses in
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the visualizer. (To help avoid small simulation timesteps, we use a default
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period that has an exact representation in binary floating point; see
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drake#15021 for details.) */
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double publish_period{1 / 64.0};
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/** The role of the geometries to be sent to the visualizer. */
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Role role{Role::kIllustration};
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/** The color to apply to any geometry that hasn't defined one. */
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Rgba default_color{0.9, 0.9, 0.9, 1.0};
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/** A prefix to add to the path for all objects and transforms curated by the
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MeshcatVisualizer. It can be an absolute path or relative path. If relative,
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this `prefix` will be appended to the Meshcat `prefix` based on the standard
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path semantics in Meshcat. See @ref meshcat_path "Meshcat paths" for
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details. */
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std::string prefix{"visualizer"};
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/** Determines whether to send a Meshcat::Delete(prefix) message on an
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initialization event to remove any visualizations e.g. from a previous
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simulation. See @ref declare_initialization_events "Declare initialization
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events" for more information. */
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bool delete_on_initialization_event{true};
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/** Determines whether to enable the alpha slider for geometry display. */
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bool enable_alpha_slider{false};
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/** Determines whether our meshcat path should be default to being visible. */
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bool visible_by_default{true};
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/** When using the hydroelastic contact model, collision geometries that are
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_declared_ as geometric primitives are frequently represented by some
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discretely tessellated mesh when computing contact. It can be quite helpful
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in assessing contact behavior to visualize these discrete meshes (in place of
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the idealized primitives).
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To visualize these representations it is necessary to request visualization
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of geometries with the Role::kProximity role (see the role field). It is
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further necessary to explicitly request the hydroelastic meshes where
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available (setting show_hydroelastic to `true`).
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Setting this `show_hydroelastic` to `true` will have no apparent effect if
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none of the collision meshes have a hydroelastic mesh associated with them.
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This option is ignored by MeshcatVisualizer<T> when T is not `double`, e.g.
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if T == AutoDiffXd. */
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bool show_hydroelastic{false};
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};
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} // namespace geometry
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} // namespace drake
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