OsgSkeletonRepresentation.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_GRAPHICS_OSGSKELETONREPRESENTATION_H
#define SURGSIM_GRAPHICS_OSGSKELETONREPRESENTATION_H

#include <boost/thread.hpp>
#include <map>
#include <osg/MatrixTransform>
#include <osg/ref_ptr>
#include <osgUtil/UpdateVisitor>
#include <string>

#include "SurgSim/Graphics/OsgRepresentation.h"
#include "SurgSim/Graphics/SkeletonRepresentation.h"

#if defined(_MSC_VER)
#pragma warning(push)
#pragma warning(disable:4250)
#endif

namespace osg
{
class Node;
class Shader;
};

namespace SurgSim
{
namespace Graphics
{

struct BoneData;
class OsgModel;

class OsgSkeletonRepresentation : public OsgRepresentation, public SkeletonRepresentation
{
public:
    explicit OsgSkeletonRepresentation(const std::string& name);

    SURGSIM_CLASSNAME(SurgSim::Graphics::OsgSkeletonRepresentation);

    void loadModel(const std::string& fileName) override;

    void setModel(std::shared_ptr<SurgSim::Framework::Asset> model) override;

    std::shared_ptr<Model> getModel() const override;

    void setSkinningShaderFileName(const std::string& fileName);

    std::string getSkinningShaderFileName() const;

    void setBonePose(const std::string& name, const SurgSim::Math::RigidTransform3d& pose) override;

    SurgSim::Math::RigidTransform3d getBonePose(const std::string& name) const override;

    void setNeutralBonePose(const std::string& name, const SurgSim::Math::RigidTransform3d& pose) override;

    SurgSim::Math::RigidTransform3d getNeutralBonePose(const std::string& name) const override;

protected:
    void setNeutralBonePoses(const std::map<std::string, SurgSim::Math::RigidTransform3d>& poses) override;

    std::map<std::string, SurgSim::Math::RigidTransform3d> getNeutralBonePoses() const override;

    void doUpdate(double dt) override;

    bool doInitialize() override;

private:
    bool setupBones();

    std::shared_ptr<SurgSim::Framework::Logger> m_logger;

    std::shared_ptr<OsgModel> m_model;

    std::shared_ptr<std::map<std::string, BoneData>> m_bones;

    mutable boost::shared_mutex m_mutex;

    osg::ref_ptr<osg::Node> m_skeleton;

    std::string m_skinningShaderFileName;

    osg::ref_ptr<osg::Shader> m_skinningShader;

    osg::ref_ptr<osgUtil::UpdateVisitor> m_updateVisitor;

    size_t m_frameCount;

    osg::ref_ptr<osg::Node> m_root;

    osg::ref_ptr<osg::MatrixTransform> m_base;
};

};  // namespace Graphics
};  // namespace SurgSim

#if defined(_MSC_VER)
#pragma warning(pop)
#endif

#endif  // SURGSIM_GRAPHICS_OSGSKELETONREPRESENTATION_H