dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/gui/osg/WorldNode.hpp

@@ -0,0 +1,211 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_OSG_WORLDNODE_HPP_
+#define DART_GUI_OSG_WORLDNODE_HPP_
+
+#include <dart/gui/osg/Viewer.hpp>
+
+#include <osg/Group>
+#include <osgShadow/ShadowTechnique>
+
+#include <memory>
+#include <unordered_map>
+
+namespace dart {
+
+namespace simulation {
+class World;
+} // namespace simulation
+
+namespace dynamics {
+class Frame;
+class Entity;
+class ShapeFrame;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+
+class FrameNode;
+class ShapeFrameNode;
+class EntityNode;
+class Viewer;
+
+/// WorldNode class encapsulates a World to be displayed in OpenSceneGraph
+class WorldNode : public ::osg::Group
+{
+public:
+  friend class Viewer;
+
+  /// Default constructor
+  /// Shadows are disabled by default
+  explicit WorldNode(
+      std::shared_ptr<dart::simulation::World> world = nullptr,
+      ::osg::ref_ptr<osgShadow::ShadowTechnique> shadowTechnique = nullptr);
+
+  /// Set the World that this WorldNode is associated with
+  void setWorld(std::shared_ptr<dart::simulation::World> newWorld);
+
+  /// Get the World that this WorldNode is associated with
+  std::shared_ptr<dart::simulation::World> getWorld() const;
+
+  /// This function is called at the beginning of each rendering cycle. It
+  /// updates the tree of Frames and Entities that need to be rendered. It may
+  /// also take a simulation step if the simulation is not paused.
+  ///
+  /// If you want to customize what happens at the beginning of each rendering
+  /// cycle, you can either overload this function, or you can overload
+  /// customUpdate(). This update() function will automatically call
+  /// customUpdate() at the beginning of each rendering cycle. By default,
+  /// customUpdate() does nothing.
+  virtual void refresh();
+
+  /// If update() is not overloaded, this function will be called at the
+  /// beginning of each rendering cycle. This function can be overloaded to
+  /// customize the behavior of each update. The default behavior is to do
+  /// nothing, so overloading this function will not interfere with the usual
+  /// update() operation.
+  virtual void customPreRefresh();
+
+  /// If update() is not overloaded, this function will be called at the end of
+  /// each rendering cycle. This function can be overloaded to customize the
+  /// behavior of each update. The default behavior is to do nothing, so
+  /// overloading this function will not interfere with the usual update()
+  /// operation.
+  virtual void customPostRefresh();
+
+  /// If update() is not overloaded, this function will be called at the
+  /// beginning of each simulation step. This function can be overloaded to
+  /// customize the behavior of each step. The default behavior is to do
+  /// nothing, so overloading this function will not interfere with the usual
+  /// update() operation. This will not get called if the simulation is paused.
+  virtual void customPreStep();
+
+  /// If update() is not overloaded, this function will be called at the end of
+  /// each simulation step. This function can be overloaded to customize the
+  /// behavior of each step. The default behavior is to do nothing, so
+  /// overloading this function will not interfere with the usual update()
+  /// operation. This will not get called if the simulation is paused.
+  virtual void customPostStep();
+
+  /// Returns true iff the WorldNode is stepping between render cycles
+  bool isSimulating() const;
+
+  /// Pass in true to take steps between render cycles; pass in false to turn
+  /// off steps between render cycles.
+  void simulate(bool on);
+
+  /// Set the number of steps to take between each render cycle (only if the
+  /// simulation is not paused)
+  void setNumStepsPerCycle(std::size_t steps);
+
+  /// Get the number of steps that will be taken between each render cycle (only
+  /// if the simulation is not paused)
+  std::size_t getNumStepsPerCycle() const;
+
+  /// Get whether the WorldNode is casting shadows
+  bool isShadowed() const;
+
+  /// Set the ShadowTechnique
+  /// If you wish to disable shadows, pass a nullptr
+  void setShadowTechnique(
+      ::osg::ref_ptr<osgShadow::ShadowTechnique> shadowTechnique = nullptr);
+
+  /// Get the current ShadowTechnique
+  /// nullptr is there are no shadows
+  ::osg::ref_ptr<osgShadow::ShadowTechnique> getShadowTechnique() const;
+
+  /// Helper function to create a default ShadowTechnique given a Viewer
+  /// the default ShadowTechnique is ShadowMap
+  static ::osg::ref_ptr<osgShadow::ShadowTechnique>
+  createDefaultShadowTechnique(const Viewer* viewer);
+
+  /// Destructor
+  virtual ~WorldNode();
+
+protected:
+  /// Called when this world gets added to an dart::gui::osg::Viewer. Override
+  /// this function to customize the way your WorldNode starts up in an
+  /// dart::gui::osg::Viewer. Default behavior does nothing.
+  virtual void setupViewer();
+
+  /// Clear the utilization flags of each child node
+  void clearChildUtilizationFlags();
+
+  /// Clear any nodes whose utilization flags were not triggered on this render
+  /// cycle
+  void clearUnusedNodes();
+
+  /// Refresh all the Skeleton rendering data
+  void refreshSkeletons();
+
+  /// Refresh all the custom Frame rendering data
+  void refreshSimpleFrames();
+
+  void refreshBaseFrameNode(dart::dynamics::Frame* frame);
+
+  void refreshShapeFrameNode(dart::dynamics::Frame* frame);
+
+  using NodeMap = std::
+      unordered_map<dart::dynamics::Frame*, ::osg::ref_ptr<ShapeFrameNode>>;
+
+  /// Map from Frame pointers to FrameNode pointers
+  NodeMap mFrameToNode;
+
+  /// The World that this WorldNode is associated with
+  std::shared_ptr<dart::simulation::World> mWorld;
+
+  /// True iff simulation is active
+  bool mSimulating;
+
+  /// Number of steps to take between rendering cycles
+  std::size_t mNumStepsPerCycle;
+
+  /// Viewer that this WorldNode is inside of
+  Viewer* mViewer;
+
+  /// OSG group for non-shadowed objects
+  ::osg::ref_ptr<::osg::Group> mNormalGroup;
+
+  /// OSG group for shadowed objects
+  ::osg::ref_ptr<::osgShadow::ShadowedScene> mShadowedGroup;
+
+  /// Whether the shadows are enabled
+  bool mShadowed;
+};
+
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_WORLDNODE_HPP_

include/dart/gui/osg/all.hpp

@@ -0,0 +1,19 @@
+// Automatically generated file by cmake
+
+#include "dart/gui/osg/DefaultEventHandler.hpp"
+#include "dart/gui/osg/DragAndDrop.hpp"
+#include "dart/gui/osg/GridVisual.hpp"
+#include "dart/gui/osg/ImGuiHandler.hpp"
+#include "dart/gui/osg/ImGuiViewer.hpp"
+#include "dart/gui/osg/ImGuiWidget.hpp"
+#include "dart/gui/osg/IncludeImGui.hpp"
+#include "dart/gui/osg/InteractiveFrame.hpp"
+#include "dart/gui/osg/MouseEventHandler.hpp"
+#include "dart/gui/osg/RealTimeWorldNode.hpp"
+#include "dart/gui/osg/ShapeFrameNode.hpp"
+#include "dart/gui/osg/SupportPolygonVisual.hpp"
+#include "dart/gui/osg/TrackballManipulator.hpp"
+#include "dart/gui/osg/Utils.hpp"
+#include "dart/gui/osg/Viewer.hpp"
+#include "dart/gui/osg/WorldNode.hpp"
+#include "dart/gui/osg/render/all.hpp"

include/dart/gui/osg/detail/CameraModeCallback.hpp

@@ -0,0 +1,82 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_OSG_DETAIL_CAMERAMODECALLBACK_HPP_
+#define DART_GUI_OSG_DETAIL_CAMERAMODECALLBACK_HPP_
+
+#include <dart/gui/osg/Viewer.hpp>
+
+#include <osg/NodeCallback>
+
+#include <mutex>
+
+namespace dart::gui::osg::detail {
+
+class CameraModeCallback : public ::osg::NodeCallback
+{
+public:
+  /// Default constructor
+  CameraModeCallback();
+
+  // Documentation inherited
+  void operator()(::osg::Node* node, ::osg::NodeVisitor* nv) override;
+
+  /// Sets the camera mode of the primary camera.
+  ///
+  /// \note Thread safe
+  void setCameraMode(CameraMode mode);
+
+  /// Returns the camera mode of the primary camera.
+  ///
+  /// \note Thread safe
+  CameraMode getCameraMode() const;
+
+  /// Sets the scene to render the depth
+  ///
+  /// \note Thread safe
+  void setSceneData(::osg::Node* scene);
+
+private:
+  ::osg::ref_ptr<::osg::Camera> mDepthRrtCam;
+  ::osg::ref_ptr<::osg::Camera> mDepthHudCam;
+  CameraMode mCameraMode;
+  bool mCameraModeChanged;
+  ::osg::ref_ptr<::osg::Node> mScene;
+  ::osg::ref_ptr<::osg::Node> mSceneToChange;
+
+  /// Mutex for all the member variables
+  mutable std::mutex mMutex;
+};
+
+} // namespace dart::gui::osg::detail
+
+#endif // DART_GUI_OSG_DETAIL_CAMERAMODECALLBACK_HPP_

include/dart/gui/osg/detail/Utils-impl.hpp

@@ -0,0 +1,160 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_OSG_DETAIL_UTILS_IMPL_HPP_
+#define DART_GUI_OSG_DETAIL_UTILS_IMPL_HPP_
+
+#include <dart/gui/osg/Utils.hpp>
+
+namespace dart::gui::osg {
+
+//==============================================================================
+template <typename T>
+constexpr T getAlphaThreshold()
+{
+  if constexpr (std::is_same_v<T, float>) {
+    return 1e-6;
+  } else if constexpr (std::is_same_v<T, double>) {
+    return 1e-9;
+  } else {
+    return 1e-9;
+  }
+}
+
+//==============================================================================
+template <typename Scalar>
+::osg::Matrix eigToOsgMatrix(
+    const Eigen::Transform<Scalar, 3, Eigen::Isometry>& tf)
+{
+  return ::osg::Matrix(
+      tf(0, 0),
+      tf(1, 0),
+      tf(2, 0),
+      tf(3, 0),
+      tf(0, 1),
+      tf(1, 1),
+      tf(2, 1),
+      tf(3, 1),
+      tf(0, 2),
+      tf(1, 2),
+      tf(2, 2),
+      tf(3, 2),
+      tf(0, 3),
+      tf(1, 3),
+      tf(2, 3),
+      tf(3, 3));
+}
+
+//==============================================================================
+template <typename Derived>
+::osg::Matrix eigToOsgMatrix(const Eigen::DenseBase<Derived>& M)
+{
+  return ::osg::Matrix(
+      M(0, 0),
+      M(1, 0),
+      M(2, 0),
+      M(3, 0),
+      M(0, 1),
+      M(1, 1),
+      M(2, 1),
+      M(3, 1),
+      M(0, 2),
+      M(1, 2),
+      M(2, 2),
+      M(3, 2),
+      M(0, 3),
+      M(1, 3),
+      M(2, 3),
+      M(3, 3));
+}
+
+//==============================================================================
+template <typename Derived>
+::osg::Vec3f eigToOsgVec3f(const Eigen::MatrixBase<Derived>& vec)
+{
+  return ::osg::Vec3f(vec[0], vec[1], vec[2]);
+}
+
+//==============================================================================
+template <typename Derived>
+::osg::Vec3d eigToOsgVec3d(const Eigen::MatrixBase<Derived>& vec)
+{
+  return ::osg::Vec3d(vec[0], vec[1], vec[2]);
+}
+
+//==============================================================================
+template <typename Derived>
+typename std::conditional<
+    std::is_same<typename Derived::Scalar, float>::value,
+    ::osg::Vec3f,
+    ::osg::Vec3d>::type
+eigToOsgVec3(const Eigen::MatrixBase<Derived>& vec)
+{
+  using Vec3 = typename std::conditional<
+      std::is_same<typename Derived::Scalar, float>::value,
+      ::osg::Vec3f,
+      ::osg::Vec3d>::type;
+
+  return Vec3(vec[0], vec[1], vec[2]);
+}
+
+//==============================================================================
+template <typename Derived>
+::osg::Vec4f eigToOsgVec4f(const Eigen::MatrixBase<Derived>& vec)
+{
+  return ::osg::Vec4f(vec[0], vec[1], vec[2], vec[3]);
+}
+
+//==============================================================================
+template <typename Derived>
+::osg::Vec4d eigToOsgVec4d(const Eigen::MatrixBase<Derived>& vec)
+{
+  return ::osg::Vec4d(vec[0], vec[1], vec[2], vec[3]);
+}
+
+//==============================================================================
+template <typename Derived>
+std::conditional<
+    std::is_same<typename Derived::Scalar, float>::value,
+    ::osg::Vec4f,
+    ::osg::Vec4d>
+eigToOsgVec4(const Eigen::MatrixBase<Derived>& vec)
+{
+  return std::conditional<
+      std::is_same<typename Derived::Scalar, float>::value,
+      ::osg::Vec4f,
+      ::osg::Vec4d>(vec[0], vec[1], vec[2], vec[3]);
+}
+
+} // namespace dart::gui::osg
+
+#endif // DART_GUI_OSG_DETAIL_UTILS_IMPL_HPP_

include/dart/gui/osg/osg.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+// DEPRECATED: This header is deprecated and will be removed in the next major release.
+// Please use <dart/gui/osg/all.hpp> instead of <dart/gui/osg/osg.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/gui/osg/osg.hpp is deprecated. Use dart/gui/osg/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/gui/osg/osg.hpp is deprecated. Use dart/gui/osg/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/gui/osg/all.hpp"

include/dart/gui/osg/render/BoxShapeNode.hpp

@@ -0,0 +1,74 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_OSG_RENDER_BOXSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_BOXSHAPENODE_HPP_
+
+#include <dart/gui/osg/render/ShapeNode.hpp>
+
+#include <osg/MatrixTransform>
+
+namespace dart {
+
+namespace dynamics {
+class BoxShape;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+namespace render {
+
+class BoxShapeGeode;
+class BoxShapeDrawable;
+
+class BoxShapeNode : public ShapeNode, public ::osg::Group
+{
+public:
+  BoxShapeNode(
+      std::shared_ptr<dart::dynamics::BoxShape> shape, ShapeFrameNode* parent);
+
+  void refresh();
+  void extractData(bool firstTime);
+
+protected:
+  virtual ~BoxShapeNode();
+
+  std::shared_ptr<dart::dynamics::BoxShape> mBoxShape;
+  BoxShapeGeode* mGeode;
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_RENDER_BOXSHAPENODE_HPP_

include/dart/gui/osg/render/CapsuleShapeNode.hpp

@@ -0,0 +1,75 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_OSG_RENDER_CAPSULESHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_CAPSULESHAPENODE_HPP_
+
+#include <dart/gui/osg/render/ShapeNode.hpp>
+
+#include <osg/MatrixTransform>
+
+namespace dart {
+
+namespace dynamics {
+class CapsuleShape;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+namespace render {
+
+class CapsuleShapeGeode;
+class CapsuleShapeDrawable;
+
+class CapsuleShapeNode : public ShapeNode, public ::osg::Group
+{
+public:
+  CapsuleShapeNode(
+      std::shared_ptr<dart::dynamics::CapsuleShape> shape,
+      ShapeFrameNode* parent);
+
+  void refresh();
+  void extractData(bool firstTime);
+
+protected:
+  virtual ~CapsuleShapeNode();
+
+  std::shared_ptr<dart::dynamics::CapsuleShape> mCapsuleShape;
+  CapsuleShapeGeode* mGeode;
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_RENDER_CAPSULESHAPENODE_HPP_