void GLscene::updateScene()
{
if (m_log->index()<0) return;
LogManager<OpenHRP::SceneState> *lm
= (LogManager<OpenHRP::SceneState> *)m_log;
OpenHRP::SceneState &ss = lm->state();
for (unsigned int i=0; i<ss.states.length(); i++){
OpenHRP::RobotState &rs = ss.states[i];
GLbody *glbody = dynamic_cast<GLbody *>(body(i).get());
glbody->setPosition(rs.basePose.position.x,
rs.basePose.position.y,
rs.basePose.position.z);
glbody->setRotation(rs.basePose.orientation.r,
rs.basePose.orientation.p,
rs.basePose.orientation.y);
glbody->setPosture(rs.q.get_buffer());
}
}
void GLscene::updateScene()
{
if (m_log->index()<0) return;
LogManager<SceneState> *lm
= (LogManager<SceneState> *)m_log;
SceneState &state = lm->state();
for (unsigned int i=0; i<state.bodyStates.size(); i++){
const BodyState& bstate = state.bodyStates[i];
GLbody *glbody = dynamic_cast<GLbody *>(body(i).get());
glbody->setPosture(bstate.q, bstate.p, bstate.R);
if (m_showSensors){
glbody->setSensorDrawCallback(
boost::bind(&GLscene::drawSensorOutput, this, _1, _2));
}else{
glbody->setSensorDrawCallback(NULL);
}
}
}