us.ihmc.simulationconstructionset.graphics.GraphicsDynamicGraphicsObject Maven / Gradle / Ivy

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Simulation Construction Set

There is a newer version: 0.25.2

package us.ihmc.simulationconstructionset.graphics;

import us.ihmc.euclid.transform.AffineTransform;
import us.ihmc.graphicsDescription.GraphicsUpdatable;
import us.ihmc.graphicsDescription.structure.Graphics3DNode;
import us.ihmc.graphicsDescription.structure.Graphics3DNodeType;
import us.ihmc.graphicsDescription.yoGraphics.YoGraphic;

public class GraphicsDynamicGraphicsObject extends Graphics3DNode implements GraphicsUpdatable
{
   private final YoGraphic yoGraphic;

   public GraphicsDynamicGraphicsObject(YoGraphic yoGraphic)
   {
      super(yoGraphic.getName(), Graphics3DNodeType.VISUALIZATION);
      this.yoGraphic = yoGraphic;
      setGraphicsObject(yoGraphic.getLinkGraphics());
      update();
   }

   @Override
   public void update()
   {
      // IMPORTANT: can't do this here because it causes threading issues. Each thread is responsible for updating its own YoGraphics!
      //      yoGraphic.update();

      AffineTransform j3dTransform = yoGraphic.getTransform();
      setTransform(j3dTransform);
   }

}