dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

include/dart/gui/osg/render/LineSegmentShapeNode.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_LINESEGMENTSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_LINESEGMENTSHAPENODE_HPP_
+
+#include <dart/gui/osg/render/ShapeNode.hpp>
+
+#include <osg/MatrixTransform>
+
+namespace dart {
+
+namespace dynamics {
+class LineSegmentShape;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+namespace render {
+
+class LineSegmentShapeGeode;
+class LineSegmentShapeDrawable;
+
+class LineSegmentShapeNode : public ShapeNode, public ::osg::Group
+{
+public:
+  LineSegmentShapeNode(
+      std::shared_ptr<dart::dynamics::LineSegmentShape> shape,
+      ShapeFrameNode* parent);
+
+  void refresh();
+  void extractData(bool firstTime);
+
+protected:
+  virtual ~LineSegmentShapeNode();
+
+  std::shared_ptr<dart::dynamics::LineSegmentShape> mLineSegmentShape;
+  LineSegmentShapeGeode* mGeode;
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_RENDER_LINESEGMENTSHAPENODE_HPP_

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

@@ -0,0 +1,86 @@
+/*
+ * 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_MESHSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_MESHSHAPENODE_HPP_
+
+#include <dart/gui/osg/render/ShapeNode.hpp>
+
+#include <osg/Material>
+#include <osg/MatrixTransform>
+
+#include <map>
+
+struct aiNode;
+
+namespace dart {
+
+namespace dynamics {
+class MeshShape;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+namespace render {
+
+class osgAiNode;
+class MeshShapeGeode;
+class MeshShapeGeometry;
+
+class MeshShapeNode : public ShapeNode, public ::osg::MatrixTransform
+{
+public:
+  MeshShapeNode(
+      std::shared_ptr<dart::dynamics::MeshShape> shape,
+      ShapeFrameNode* parentNode);
+
+  void refresh();
+  void extractData(bool firstTime);
+
+  ::osg::Material* getMaterial(std::size_t index) const;
+  std::vector<std::string> getTextureImagePaths(std::size_t index) const;
+
+protected:
+  virtual ~MeshShapeNode();
+
+  std::shared_ptr<dart::dynamics::MeshShape> mMeshShape;
+  osgAiNode* mRootAiNode;
+  std::vector<::osg::ref_ptr<::osg::Material>> mMaterials;
+  std::vector<std::vector<std::string>> mTextureImageArrays;
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_RENDER_MESHSHAPENODE_HPP_

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

@@ -0,0 +1,76 @@
+/*
+ * 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_MULTISPHERESHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_MULTISPHERESHAPENODE_HPP_
+
+#include <dart/gui/osg/render/ShapeNode.hpp>
+
+#include <osg/MatrixTransform>
+#include <osg/ShapeDrawable>
+
+namespace dart {
+
+namespace dynamics {
+class MultiSphereConvexHullShape;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+namespace render {
+
+class MultiSphereShapeGeode;
+class MultiSphereShapeDrawable;
+
+class MultiSphereShapeNode : public ShapeNode, public ::osg::MatrixTransform
+{
+public:
+  MultiSphereShapeNode(
+      std::shared_ptr<dart::dynamics::MultiSphereConvexHullShape> shape,
+      ShapeFrameNode* parent);
+
+  void refresh();
+  void extractData(bool firstTime);
+
+protected:
+  virtual ~MultiSphereShapeNode();
+
+  std::shared_ptr<dart::dynamics::MultiSphereConvexHullShape> mMultiSphereShape;
+  MultiSphereShapeGeode* mGeode;
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_RENDER_MULTISPHERESHAPENODE_HPP_

include/dart/gui/osg/render/PlaneShapeNode.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_PLANESHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_PLANESHAPENODE_HPP_
+
+#include <dart/gui/osg/render/ShapeNode.hpp>
+
+#include <osg/MatrixTransform>
+
+namespace dart {
+
+namespace dynamics {
+class PlaneShape;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+namespace render {
+
+class PlaneShapeGeode;
+class PlaneShapeDrawable;
+
+class PlaneShapeNode : public ShapeNode, public ::osg::Group
+{
+public:
+  PlaneShapeNode(
+      std::shared_ptr<dart::dynamics::PlaneShape> shape,
+      ShapeFrameNode* parent);
+
+  void refresh();
+  void extractData(bool firstTime);
+
+protected:
+  virtual ~PlaneShapeNode();
+
+  std::shared_ptr<dart::dynamics::PlaneShape> mPlaneShape;
+  PlaneShapeGeode* mGeode;
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_RENDER_PLANESHAPENODE_HPP_

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

@@ -0,0 +1,85 @@
+/*
+ * 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_POINTCLOUDSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_POINTCLOUDSHAPENODE_HPP_
+
+#include <dart/gui/osg/render/ShapeNode.hpp>
+
+#include <dart/dynamics/PointCloudShape.hpp>
+
+#include <Eigen/Dense>
+#include <osg/Group>
+
+namespace dart {
+
+namespace dynamics {
+class PointCloudShape;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+namespace render {
+
+class PointCloudShapeGeode;
+class PointCloudShapeBillboardGeode;
+class PointNode;
+class PointNodes;
+
+class PointCloudShapeNode : public ShapeNode, public ::osg::Group
+{
+public:
+  PointCloudShapeNode(
+      std::shared_ptr<dart::dynamics::PointCloudShape> shape,
+      ShapeFrameNode* parent);
+
+  void refresh() override;
+  void extractData(bool firstTime);
+
+  ::osg::ref_ptr<PointNodes> createPointNodes();
+
+protected:
+  virtual ~PointCloudShapeNode() override;
+
+  std::shared_ptr<dart::dynamics::PointCloudShape> mPointCloudShape;
+  ::osg::ref_ptr<PointNodes> mPointNodes;
+  std::size_t mPointCloudVersion;
+
+  dynamics::PointCloudShape::PointShapeType mPointShapeType;
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_RENDER_POINTCLOUDSHAPENODE_HPP_

include/dart/gui/osg/render/PyramidShapeNode.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_PYRAMIDSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_PYRAMIDSHAPENODE_HPP_
+
+#include <dart/gui/osg/render/ShapeNode.hpp>
+
+#include <osg/MatrixTransform>
+
+namespace dart {
+
+namespace dynamics {
+class PyramidShape;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+namespace render {
+
+class PyramidShapeGeode;
+class PyramidShapeDrawable;
+
+class PyramidShapeNode : public ShapeNode, public ::osg::Group
+{
+public:
+  PyramidShapeNode(
+      std::shared_ptr<dart::dynamics::PyramidShape> shape,
+      ShapeFrameNode* parent);
+
+  void refresh();
+  void extractData(bool firstTime);
+
+protected:
+  virtual ~PyramidShapeNode();
+
+  std::shared_ptr<dart::dynamics::PyramidShape> mPyramidShape;
+  PyramidShapeGeode* mGeode;
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_RENDER_PYRAMIDSHAPENODE_HPP_

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

@@ -0,0 +1,126 @@
+/*
+ * 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_SHAPEGEODE_HPP_
+#define DART_GUI_OSG_RENDER_SHAPEGEODE_HPP_
+
+#include <osg/Node>
+
+#include <memory>
+
+namespace dart {
+
+namespace dynamics {
+class Shape;
+class ShapeFrame;
+class SimpleFrame;
+class VisualAspect;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+
+class Node;
+class Group;
+class EntityNode;
+class ShapeFrameNode;
+
+namespace render {
+
+class ShapeNode
+{
+public:
+  ShapeNode(
+      std::shared_ptr<dart::dynamics::Shape> shape,
+      ShapeFrameNode* parentNode,
+      ::osg::Node* node);
+
+  virtual ~ShapeNode();
+
+  /// Pointer to the Shape associated with this ShapeNode
+  const std::shared_ptr<dart::dynamics::Shape>& getShape() const;
+
+  const dart::dynamics::ShapeFrame* getShapeFrame() const;
+
+  dart::dynamics::VisualAspect* getVisualAspect();
+
+  const dart::dynamics::VisualAspect* getVisualAspect() const;
+
+  /// Cast this ShapeNode into an osg::Node
+  ::osg::Node* getNode();
+
+  /// Cast this ShapeNode into an osg::Node
+  const ::osg::Node* getNode() const;
+
+  /// Pointer to the parent EntityNode of this ShapeNode
+  ShapeFrameNode* getParentShapeFrameNode();
+
+  /// Pointer to the parent EntityNode of this ShapeNode
+  const ShapeFrameNode* getParentShapeFrameNode() const;
+
+  /// Update all rendering data for this ShapeNode
+  virtual void refresh() = 0;
+
+  /// True iff this ShapeNode has been utilized on the latest update
+  bool wasUtilized() const;
+
+  /// Set mUtilized to false
+  void clearUtilization();
+
+protected:
+  /// Pointer to the Shape associated with this ShapeNode
+  const std::shared_ptr<dart::dynamics::Shape> mShape;
+
+  /// Pointer to the SimpleFrame associated with this ShapeNode
+  dart::dynamics::ShapeFrame* mShapeFrame;
+
+  /// Pointer to the VisualAspect associated with this ShapeNode
+  dart::dynamics::VisualAspect* mVisualAspect;
+
+  /// Pointer to the parent ShapeFrameNode of this ShapeNode
+  ShapeFrameNode* mParentShapeFrameNode;
+
+  /// Should generally be equal to 'this'
+  ::osg::Node* mNode;
+
+  /// True iff this ShapeNode has been utilized on the latest update. If it has
+  /// not, that is an indication that it is no longer being used and should be
+  /// deleted.
+  bool mUtilized;
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_RENDER_SHAPEGEODE_HPP_

include/dart/gui/osg/render/SoftMeshShapeNode.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_SOFTMESHSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_SOFTMESHSHAPENODE_HPP_
+
+#include <dart/gui/osg/render/ShapeNode.hpp>
+
+#include <osg/MatrixTransform>
+
+namespace dart {
+
+namespace dynamics {
+class SoftMeshShape;
+} // namespace dynamics
+
+namespace gui {
+namespace osg {
+namespace render {
+
+class SoftMeshShapeGeode;
+class SoftMeshShapeDrawable;
+
+class SoftMeshShapeNode : public ShapeNode, public ::osg::MatrixTransform
+{
+public:
+  SoftMeshShapeNode(
+      std::shared_ptr<dart::dynamics::SoftMeshShape> shape,
+      ShapeFrameNode* parent);
+
+  void refresh();
+  void extractData(bool firstTime);
+
+protected:
+  virtual ~SoftMeshShapeNode();
+
+  std::shared_ptr<dart::dynamics::SoftMeshShape> mSoftMeshShape;
+  SoftMeshShapeGeode* mGeode;
+};
+
+} // namespace render
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_RENDER_SOFTMESHSHAPENODE_HPP_