forked from pz4kybsvg/Conception
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135 lines
3.2 KiB
135 lines
3.2 KiB
load(
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"@drake//tools/skylark:drake_cc.bzl",
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"drake_cc_googletest",
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"drake_cc_library",
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"drake_cc_package_library",
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)
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load("//tools/lint:lint.bzl", "add_lint_tests")
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package(default_visibility = ["//visibility:public"])
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filegroup(
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name = "models",
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srcs = glob([
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"**/*.sdf",
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]),
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)
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drake_cc_package_library(
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name = "meshcat",
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visibility = ["//visibility:public"],
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deps = [
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":contact_visualizer",
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":contact_visualizer_params",
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":hydroelastic_contact_visualizer",
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":joint_sliders",
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":point_contact_visualizer",
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],
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)
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drake_cc_library(
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name = "contact_visualizer",
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srcs = ["contact_visualizer.cc"],
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hdrs = ["contact_visualizer.h"],
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deps = [
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":contact_visualizer_params",
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":hydroelastic_contact_visualizer",
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":point_contact_visualizer",
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"//common:essential",
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"//geometry:meshcat",
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"//math:geometric_transform",
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"//multibody/plant",
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"//systems/framework:context",
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"//systems/framework:diagram_builder",
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"//systems/framework:leaf_system",
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],
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)
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drake_cc_googletest(
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name = "contact_visualizer_test",
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timeout = "moderate",
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data = [
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":models",
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"//examples/manipulation_station:models",
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],
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deps = [
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":contact_visualizer",
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"//common/test_utilities:expect_throws_message",
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"//multibody/parsing",
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"//multibody/plant",
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],
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)
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drake_cc_googletest(
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name = "hydroelastic_contact_visualizer_test",
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deps = [
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":hydroelastic_contact_visualizer",
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"//common/test_utilities:expect_no_throw",
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"@msgpack_internal//:msgpack",
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],
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)
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drake_cc_library(
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name = "contact_visualizer_params",
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hdrs = ["contact_visualizer_params.h"],
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deps = [
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"//common:name_value",
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"//geometry:rgba",
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],
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)
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drake_cc_library(
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name = "joint_sliders",
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srcs = ["joint_sliders.cc"],
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hdrs = ["joint_sliders.h"],
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deps = [
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"//common:scope_exit",
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"//geometry:meshcat",
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"//multibody/plant",
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],
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)
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drake_cc_googletest(
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name = "joint_sliders_test",
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data = [
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":test/universal_joint.sdf",
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"//manipulation/models/iiwa_description:models",
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"//multibody:models",
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"//multibody/benchmarks/acrobot:models",
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],
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deps = [
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":joint_sliders",
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"//common/test_utilities:eigen_matrix_compare",
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"//common/test_utilities:expect_throws_message",
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"//geometry:meshcat_visualizer",
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"//geometry/test_utilities:meshcat_environment",
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"//multibody/parsing",
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],
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)
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drake_cc_library(
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name = "point_contact_visualizer",
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srcs = ["point_contact_visualizer.cc"],
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hdrs = ["point_contact_visualizer.h"],
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visibility = ["//visibility:private"],
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deps = [
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":contact_visualizer_params",
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"//geometry:meshcat",
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"//math:geometric_transform",
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],
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)
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drake_cc_library(
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name = "hydroelastic_contact_visualizer",
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srcs = ["hydroelastic_contact_visualizer.cc"],
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hdrs = ["hydroelastic_contact_visualizer.h"],
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visibility = ["//visibility:private"],
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deps = [
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":contact_visualizer_params",
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"//geometry:meshcat",
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"//math:geometric_transform",
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],
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)
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add_lint_tests()
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