InteractiveFrame.hpp

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#ifndef DART_GUI_OSG_INTERACTIVEFRAME_HPP_
#define DART_GUI_OSG_INTERACTIVEFRAME_HPP_

#include "dart/dynamics/SimpleFrame.hpp"

namespace dart {

namespace dynamics {
class MeshShape;
} // namespace dynamics

namespace gui {
namespace osg {

class InteractiveFrame;

class InteractiveTool : public dart::dynamics::SimpleFrame
{
public:
  enum Type
  {

    LINEAR = 0, 
    ANGULAR,    
    PLANAR,     

    NUM_TYPES
  };

  InteractiveTool(
      InteractiveFrame* frame, double defaultAlpha, const std::string& name);

  void setEnabled(bool enabled);

  bool getEnabled() const;

  void setAlpha(double alpha);

  void resetAlpha();

  void setDefaultAlpha(double alpha, bool reset = true);

  double getDefaultAlpha() const;

  InteractiveFrame* getInteractiveFrame();

  const InteractiveFrame* getInteractiveFrame() const;

  dart::dynamics::SimpleFrame* addShapeFrame(
      const dart::dynamics::ShapePtr& shape);

  const std::vector<dart::dynamics::SimpleFrame*> getShapeFrames();

  const std::vector<const dart::dynamics::SimpleFrame*> getShapeFrames() const;

  void removeAllShapeFrames();

protected:
  std::vector<std::unique_ptr<dart::dynamics::SimpleFrame>> mSimpleFrames;

  double mDefaultAlpha;

  bool mEnabled;

  InteractiveFrame* mInteractiveFrame;
};

class InteractiveFrame : public dart::dynamics::SimpleFrame
{
public:
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(InteractiveFrame)

  
  InteractiveFrame(
      dart::dynamics::Frame* referenceFrame,
      const std::string& name = "interactive_frame",
      const Eigen::Isometry3d& relativeTransform
      = Eigen::Isometry3d::Identity(),
      double size_scale = 0.2,
      double thickness_scale = 2.0);

  virtual ~InteractiveFrame();

  virtual void resizeStandardVisuals(
      double size_scale = 0.2, double thickness_scale = 2.0);

  InteractiveTool* getTool(InteractiveTool::Type tool, std::size_t coordinate);

  const InteractiveTool* getTool(
      InteractiveTool::Type tool, std::size_t coordinate) const;

  dart::dynamics::SimpleFrame* addShapeFrame(
      const dart::dynamics::ShapePtr& shape);

  const std::vector<dart::dynamics::SimpleFrame*> getShapeFrames();

  const std::vector<const dart::dynamics::SimpleFrame*> getShapeFrames() const;

  void removeAllShapeFrames();

protected:
  void createStandardVisualizationShapes(double size, double thickness);

  void deleteAllVisualizationShapes();

  void deleteAllTools();

  InteractiveTool* mTools[InteractiveTool::NUM_TYPES][3];

  std::vector<std::unique_ptr<dart::dynamics::SimpleFrame>> mSimpleFrames;
};

typedef std::shared_ptr<InteractiveFrame> InteractiveFramePtr;

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

#endif // DART_GUI_OSG_INTERACTIVEFRAME_HPP_