Viewer.hpp

/*
 * Copyright (c) 2011-2021, The DART development contributors
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#ifndef DART_GUI_OSG_VIEWER_HPP_
#define DART_GUI_OSG_VIEWER_HPP_

#include <map>
#include <memory>
#include <unordered_set>

#include <osgShadow/ShadowTechnique>
#include <osgViewer/Viewer>

#include <Eigen/Core>

#include "dart/common/ClassWithVirtualBase.hpp"
#include "dart/common/Subject.hpp"

namespace dart {

namespace simulation {
class World;
} // namespace simulation

namespace dynamics {
class Entity;
class SimpleFrame;
class Shape;
class BodyNode;
} // namespace dynamics

namespace gui {
namespace osg {

class WorldNode;
class DefaultEventHandler;
class DragAndDrop;
class SimpleFrameDnD;
class SimpleFrameShapeDnD;
class InteractiveFrame;
class InteractiveFrameDnD;
class BodyNodeDnD;
class Viewer;
class SaveScreen;

DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class ViewerAttachment : public virtual ::osg::Group
{
public:
  friend class Viewer;

  ViewerAttachment();

  virtual ~ViewerAttachment();

  virtual void refresh() = 0;

  Viewer* getViewer();

  const Viewer* getViewer() const;

protected:
  virtual void customAttach(Viewer* newViewer);

  virtual void attach(Viewer* newViewer);

private:
  Viewer* mViewer;
};

class Viewer : public osgViewer::Viewer, public dart::common::Subject
{
public:
  Viewer(const ::osg::Vec4& clearColor = ::osg::Vec4(0.9, 0.9, 0.9, 1.0));

  virtual ~Viewer();

  // TODO(MXG): Add a bool argument that instructs the viewer to append a date
  // and time to the name of the file.
  void captureScreen(const std::string& filename);

  void record(
      const std::string& directory,
      const std::string& prefix = "image",
      bool restart = false,
      std::size_t digits = 6);

  void pauseRecording();

  bool isRecording() const;

  virtual void switchDefaultEventHandler(bool _on);

  DefaultEventHandler* getDefaultEventHandler() const;

  virtual void switchHeadlights(bool _on);

  bool checkHeadlights() const;

  void addWorldNode(WorldNode* _newWorldNode, bool _active = true);

  void removeWorldNode(WorldNode* _oldWorldNode);

  void removeWorldNode(std::shared_ptr<dart::simulation::World> _oldWorld);

  WorldNode* getWorldNode(
      std::shared_ptr<dart::simulation::World> _world) const;

  void addAttachment(ViewerAttachment* _attachment);

  void removeAttachment(ViewerAttachment* _attachment);

  const std::unordered_set<ViewerAttachment*>& getAttachments() const;

  ::osg::Group* getLightGroup();

  const ::osg::Group* getLightGroup() const;

  const ::osg::ref_ptr<::osg::LightSource>& getLightSource(
      std::size_t index = 0) const;

  void setupDefaultLights();

  void setUpwardsDirection(const ::osg::Vec3& _up);

  void setUpwardsDirection(const Eigen::Vector3d& _up);

  void setWorldNodeActive(WorldNode* _node, bool _active = true);

  void setWorldNodeActive(
      std::shared_ptr<dart::simulation::World> _world, bool _active = true);

  void simulate(bool _on);

  bool isSimulating() const;

  void allowSimulation(bool _allow);

  bool isAllowingSimulation() const;

  DragAndDrop* enableDragAndDrop(dart::dynamics::Entity* _entity);

  SimpleFrameDnD* enableDragAndDrop(dart::dynamics::SimpleFrame* _frame);

  SimpleFrameShapeDnD* enableDragAndDrop(
      dart::dynamics::SimpleFrame* _frame, dart::dynamics::Shape* _shape);

  InteractiveFrameDnD* enableDragAndDrop(InteractiveFrame* _frame);

  BodyNodeDnD* enableDragAndDrop(
      dart::dynamics::BodyNode* _bn,
      bool _useExternalIK = true,
      bool _useWholeBody = false);

  bool disableDragAndDrop(DragAndDrop* _dnd);

  bool disableDragAndDrop(SimpleFrameDnD* _dnd);

  bool disableDragAndDrop(SimpleFrameShapeDnD* _dnd);

  bool disableDragAndDrop(InteractiveFrameDnD* _dnd);

  bool disableDragAndDrop(BodyNodeDnD* _dnd);

  const std::string& getInstructions() const;

  void addInstructionText(const std::string& _instruction);

  virtual void updateViewer();

  void updateDragAndDrops();

  const ::osg::ref_ptr<::osg::Group>& getRootGroup() const;

  void setVerticalFieldOfView(double fov);

  double getVerticalFieldOfView() const;

protected:
  friend class SaveScreen;

  std::size_t mImageSequenceNum;

  std::size_t mImageDigits;

  bool mRecording;

  bool mScreenCapture;

  std::string mImageDirectory;

  std::string mImagePrefix;

  std::string mScreenCapName;

  ::osg::ref_ptr<DefaultEventHandler> mDefaultEventHandler;

  ::osg::ref_ptr<::osg::Group> mRootGroup;

  ::osg::ref_ptr<::osg::Group> mLightGroup;

  ::osg::ref_ptr<::osg::Light> mLight1;

  ::osg::ref_ptr<::osg::LightSource> mLightSource1;

  ::osg::ref_ptr<::osg::Light> mLight2;

  ::osg::ref_ptr<::osg::LightSource> mLightSource2;

  ::osg::Vec3 mUpwards;

  ::osg::Vec3 mOver;

  bool mSimulating;

  bool mAllowSimulation;

  bool mHeadlights;

  std::map<::osg::ref_ptr<WorldNode>, bool> mWorldNodes;

  std::unordered_set<ViewerAttachment*> mAttachments;

  std::string mInstructions;

  // TODO(MXG): Consolidate all these maps into a single map of maps which uses
  // typeid as a key

  std::map<dart::dynamics::SimpleFrame*, SimpleFrameDnD*> mSimpleFrameDnDMap;

  std::multimap<dart::dynamics::Shape*, SimpleFrameShapeDnD*>
      mSimpleFrameShapeDnDMap;

  std::map<InteractiveFrame*, InteractiveFrameDnD*> mInteractiveFrameDnDMap;

  std::map<dart::dynamics::BodyNode*, BodyNodeDnD*> mBodyNodeDnDMap;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END

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

#endif // DART_GUI_OSG_VIEWER_HPP_