GridVisual.hpp

/*
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#ifndef DART_GUI_OSG_GRIDVISUAL_HPP_
#define DART_GUI_OSG_GRIDVISUAL_HPP_

#include <osg/Geode>
#include <osg/LineWidth>

#include "dart/dynamics/SmartPointer.hpp"

#include "dart/gui/osg/ShapeFrameNode.hpp"
#include "dart/gui/osg/Viewer.hpp"

namespace dart {
namespace gui {
namespace osg {

class GridVisual : public ViewerAttachment
{
public:
  enum class PlaneType : unsigned char
  {
    XY = 0u,
    YZ = 1u,
    ZX = 2u,
  };

  GridVisual();

  void setNumCells(std::size_t cells);

  std::size_t getNumCells() const;

  void setMinorLineStepSize(double size);

  double getMinorLineStepSize() const;

  void setNumMinorLinesPerMajorLine(std::size_t size);

  std::size_t getNumMinorLinesPerMajorLine() const;

  void setPlaneType(PlaneType type);

  PlaneType getPlaneType() const;

  void setOffset(const Eigen::Vector3d& offset);

  const Eigen::Vector3d& getOffset() const;

  void display(bool display);

  bool isDisplayed() const;

  void setMajorLineColor(const Eigen::Vector4d& color);

  Eigen::Vector4d getMajorLineColor() const;

  void setMinorLineColor(const Eigen::Vector4d& color);

  Eigen::Vector4d getMinorLineColor() const;

  void setAxisLineWidth(float width);

  float getAxisLineWidth() const;

  void setMajorLineWidth(float width);

  float getMajorLineWidth() const;

  void setMinorLineWidth(float width);

  float getMinorLineWidth() const;

  void refresh() override final;

protected:
  void initialize();

  PlaneType mPlaneType;

  std::size_t mNumCells;

  double mMinorLineStepSize;

  std::size_t mNumMinorLinesPerMajorLine;

  Eigen::Vector3d mOffset;

  bool mDisplayGrid;

  ::osg::ref_ptr<::osg::Vec4Array> mAxisLineColor;

  ::osg::ref_ptr<::osg::Vec4Array> mMajorLineColor;

  ::osg::ref_ptr<::osg::Vec4Array> mMinorLineColor;

  ::osg::ref_ptr<::osg::Geode> mGeode;

  ::osg::ref_ptr<::osg::Geometry> mAxisLineGeom;

  ::osg::ref_ptr<::osg::Geometry> mMajorLineGeom;

  ::osg::ref_ptr<::osg::Geometry> mMinorLineGeom;

  ::osg::ref_ptr<::osg::Vec3Array> mMinorLineVertices;

  ::osg::ref_ptr<::osg::Vec3Array> mMajorLineVertices;

  ::osg::ref_ptr<::osg::Vec3Array> mAxisLineVertices;

  ::osg::ref_ptr<::osg::DrawElementsUInt> mAxis1PositiveFaces;

  ::osg::ref_ptr<::osg::DrawElementsUInt> mAxis1NegativeFaces;

  ::osg::ref_ptr<::osg::DrawElementsUInt> mAxis2PositiveFaces;

  ::osg::ref_ptr<::osg::DrawElementsUInt> mAxis2NegativeFaces;

  ::osg::ref_ptr<::osg::DrawElementsUInt> mMajorLineFaces;

  ::osg::ref_ptr<::osg::DrawElementsUInt> mMinorLineFaces;

  ::osg::ref_ptr<::osg::LineWidth> mAxisLineWidth;

  ::osg::ref_ptr<::osg::LineWidth> mMajorLineWidth;

  ::osg::ref_ptr<::osg::LineWidth> mMinorLineWidth;

  bool mNeedUpdate;
};

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

#endif // DART_GUI_OSG_GRIDVISUAL_HPP_