DragAndDrop.hpp

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#ifndef DART_GUI_OSG_DRAGANDDROP_HPP_
#define DART_GUI_OSG_DRAGANDDROP_HPP_

#include <functional>

#include <Eigen/Geometry>

#include "dart/common/sub_ptr.hpp"
#include "dart/dynamics/Entity.hpp"
#include "dart/dynamics/Shape.hpp"
#include "DefaultEventHandler.hpp"

namespace dart {

namespace dynamics {
class SimpleFrame;
} // namespace dynamics

namespace gui {
namespace osg {

class Viewer;
class InteractiveFrame;

class DragAndDrop : public dart::common::Subject, public dart::common::Observer
{
public:
  enum class RotationOption : int
  {

    HOLD_MODKEY = 0, // Default setting, hold ctrl key to rotate
    ALWAYS_ON,
    ALWAYS_OFF

  };

  DragAndDrop(Viewer* viewer, dart::dynamics::Entity* entity);

  virtual ~DragAndDrop();

  dart::dynamics::Entity* getEntity() const;

  virtual void update();

  void setObstructable(bool _obstructable);

  bool isObstructable() const;

  virtual void move() = 0;

  virtual void saveState() = 0;

  virtual void release();

  virtual Eigen::Vector3d getConstrainedDx() const;

  virtual Eigen::AngleAxisd getConstrainedRotation() const;

  void unconstrain();

  void constrainToLine(const Eigen::Vector3d& slope);

  void constrainToPlane(const Eigen::Vector3d& normal);

  bool isMoving() const;

  void setRotationOption(RotationOption option);

  RotationOption getRotationOption() const;

  void setRotationModKey(::osgGA::GUIEventAdapter::ModKeyMask rotationModKey);

  ::osgGA::GUIEventAdapter::ModKeyMask getRotationModKey() const;

protected:
  void handleDestructionNotification(
      const dart::common::Subject* subscription) override;

  Viewer* mViewer;

  dart::dynamics::Entity* mEntity;

  Eigen::Vector3d mPickedPosition;

  Eigen::Vector3d mVector;

  Eigen::Vector3d mPivot;

  ConstraintType mConstraintType;

  bool mAmObstructable;

  bool mAmMoving;

  RotationOption mRotationOption;

  ::osgGA::GUIEventAdapter::ModKeyMask mRotationModKey;
};

//==============================================================================
class SimpleFrameDnD : public DragAndDrop
{
public:
  SimpleFrameDnD(Viewer* viewer, dart::dynamics::SimpleFrame* frame);

  virtual ~SimpleFrameDnD() = default;

  dart::dynamics::SimpleFrame* getSimpleFrame() const;

  // Documentation inherited
  void move() override;

  // Documentation inherited
  void saveState() override;

protected:
  dart::dynamics::SimpleFrame* mFrame;

  Eigen::AngleAxisd mSavedRotation;
};

//==============================================================================
class SimpleFrameShapeDnD : public SimpleFrameDnD
{
public:
  SimpleFrameShapeDnD(
      Viewer* viewer,
      dart::dynamics::SimpleFrame* frame,
      dart::dynamics::Shape* shape);

  virtual ~SimpleFrameShapeDnD() = default;

  dart::dynamics::Shape* getShape() const;

  // Documentation inherited
  void update() override;

protected:
  // Documentation inherited
  void handleDestructionNotification(
      const dart::common::Subject* subscription) override;

  dart::dynamics::Shape* mShape;
};

//==============================================================================
class InteractiveFrameDnD : public DragAndDrop
{
public:
  InteractiveFrameDnD(Viewer* viewer, dart::gui::osg::InteractiveFrame* frame);

  virtual ~InteractiveFrameDnD() = default;

  InteractiveFrame* getFrame() const;

  // Documentation inherited
  void update() override;

  // Documentation inherited
  void move() override;

  // Documentation inherited
  void saveState() override;

protected:
  std::vector<DragAndDrop*> mDnDs;

  InteractiveFrame* mInteractiveFrame;
};

//==============================================================================
class BodyNodeDnD : public DragAndDrop
{
public:
  BodyNodeDnD(
      Viewer* viewer,
      dart::dynamics::BodyNode* bn,
      bool useExternalIK = true,
      bool useWholeBody = false);

  virtual ~BodyNodeDnD() = default;

  dart::dynamics::BodyNode* getBodyNode() const;

  // Documentation inherited
  void update() override;

  // Documentation inherited
  void move() override;

  // Documentation inherited
  void saveState() override;

  // Documentation inherited
  void release() override;

  void useExternalIK(bool external);

  bool isUsingExternalIK() const;

  void useWholeBody(bool wholeBody);

  bool isUsingWholeBody() const;

  void setPreserveOrientationModKey(
      ::osgGA::GUIEventAdapter::ModKeyMask modkey);

  ::osgGA::GUIEventAdapter::ModKeyMask getPreserveOrientationModKey() const;

  void setJointRestrictionModKey(::osgGA::GUIEventAdapter::ModKeyMask modkey);

  ::osgGA::GUIEventAdapter::ModKeyMask getJointRestrictionModKey() const;

protected:
  dart::dynamics::WeakBodyNodePtr mBodyNode;

  dart::dynamics::InverseKinematicsPtr mIK;

  Eigen::Vector3d mSavedGlobalOffset;

  Eigen::Vector3d mSavedLocalOffset;

  Eigen::AngleAxisd mSavedRotation;

  bool mUseExternalIK;

  bool mUseWholeBody;

  ::osgGA::GUIEventAdapter::ModKeyMask mPreserveOrientationModKey;

  ::osgGA::GUIEventAdapter::ModKeyMask mJointRestrictionModKey;

  std::size_t mAdditionalBodyNodes;
};

} // namespace osg
} // namespace gui
} // namespace dart

#endif // DART_GUI_OSG_DRAGANDDROP_HPP_