RobotDebug.h

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#pragma once
 
#include "Multibody.h"
#include "../core/DebugScene.h"
 
namespace candlewick::multibody {

struct RobotDebugSystem final : IDebugSubSystem {
 
  RobotDebugSystem(DebugScene &scene, const pin::Model &model,
                   const pin::Data &data)
      : IDebugSubSystem(scene), m_robotModel(&model), m_robotData(&data) {}
 
  entt::entity addFrameTriad(pin::FrameIndex frame_id,
                             const Float3 &scale = Float3::Constant(0.3333f));
 
  entt::entity addFrameVelocityArrow(pin::FrameIndex frame_id,
                                     float scale = 0.5f);

  void update() override;
 
  void destroyEntities();
 
  ~RobotDebugSystem() {
    this->destroyEntities();
    this->m_robotModel = nullptr;
    this->m_robotData = nullptr;
  }
 
  void reload(const pin::Model &model, const pin::Data &data) {
    this->destroyEntities();
    this->m_robotModel = &model;
    this->m_robotData = &data;
  }
 
private:
  pin::Model const *m_robotModel;
  pin::Data const *m_robotData;
};
 
} // namespace candlewick::multibody