ViewRobot.h

#ifndef VIEW_ROBOT_H
#define VIEW_ROBOT_H

#include <KrisLibrary/GLdraw/GLColor.h>
#include <KrisLibrary/GLdraw/GLDisplayList.h>
#include <KrisLibrary/GLdraw/GeometryAppearance.h>
#include <Klampt/Modeling/Robot.h>

namespace Klampt {

struct ViewRobot
{
  ViewRobot(RobotModel* robot=NULL);
  ~ViewRobot();
  void Draw(RobotModel* robot);
  void Draw();
  void DrawOpaque(bool opaque);
  void DrawLink_Local(int i,bool keepAppearance=true); 
  void DrawLink_World(int i,bool keepAppearance=true); 
  void DrawCenterOfMass(Real radius = 0.05);
  void DrawLinkCenterOfMass(int i,Real radius = 0.05);
  void DrawLinkFrames(Real size = 0.1);
  void DrawLinkSkeleton();
  void DrawTorques(const Vector& t);
  void SetColors(const GLDraw::GLColor& c);
  void SetColor(int i,const GLDraw::GLColor& c);
  void SetTintColors(const GLDraw::GLColor& c,Real fraction);
  void SetTintColor(int i,const GLDraw::GLColor& c,Real fraction);
  void SetGrey();
  //void BlendColors(const GLDraw::GLColor& c,Real fraction);
  //void BlendColor(int i,const GLDraw::GLColor& c,Real fraction);
  void SetTorqueColors(const Vector& t);
  GLDraw::GeometryAppearance& Appearance(int link);
  GLDraw::GeometryAppearance& LastAppearance(int link);
  void PushAppearance();
  void PopAppearance();
  void RestoreAppearance();
  vector<GLDraw::GeometryAppearance> GetAppearance();
  void SetAppearance(const vector<GLDraw::GeometryAppearance>& );

  RobotModel* robot;
  vector< vector<GLDraw::GeometryAppearance> > appearanceStack;
};

} //namespace Klampt

#endif