text: /********************************************************************************
   * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
   * Faculty of Engineering, University of Southern Denmark
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   ********************************************************************************/
  
  #ifndef RWSIM_DRAWABLE_SIMULATORDEBUGRENDER_HPP_
  #define RWSIM_DRAWABLE_SIMULATORDEBUGRENDER_HPP_
  
  #include <rw/core/Ptr.hpp>
  #include <rw/graphics/Render.hpp>
  
  namespace rwsim { namespace drawable {
  
      //! @brief Render for debugging dynamic simulators.
      class SimulatorDebugRender : public rw::graphics::Render
      {
        public:
          //! @brief Smart pointer type for SimulatorDebugRender.
          typedef rw::core::Ptr< SimulatorDebugRender > Ptr;
  
          // virtual ~SimulatorDebugRender(){};
  
          //! @brief Draw mask for drawing nothing.
          static const unsigned int DRAW_NOTHING = 0;
          //! @brief Draw mask for drawing contact normals.
          static const unsigned int DRAW_CONTACT_NORMAL = 1;
          //! @brief Draw mask for drawing contact friction cones.
          static const unsigned int DRAW_FRICTION_CONE = 2;
          //! @brief Draw mask for drawing body forces.
          static const unsigned int DRAW_BODY_FORCES = 4;
          //! @brief Draw mask for drawing collision geometries.
          static const unsigned int DRAW_COLLISION_GEOMETRY = 8;
  
          // virtual void draw(DrawType type, double alpha) = 0;
  
          /**
           * @brief Set the draw mask.
           * @param mask [in] the draw mask.
           */
          virtual void setDrawMask (unsigned int mask) = 0;
  
        protected:
          //! @brief Constructor.
          SimulatorDebugRender () {}
      };
  
  }}     // namespace rwsim::drawable
  #endif /*RENDERSIMDEBUG_HPP_*/
  