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); } } }