VisualizeConstraints.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013-2016, 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_BLOCKS_VISUALIZECONSTRAINTS_H
#define SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H

#include "SurgSim/Framework/BasicSceneElement.h"
#include "SurgSim/Framework/Behavior.h"
#include "SurgSim/Physics/PhysicsManagerState.h"

namespace SurgSim
{

namespace Physics
{
class PhysicsManager;
}

namespace Framework
{
class Logger;
}

namespace Graphics
{
class VectorFieldRepresentation;
}

namespace Blocks
{
SURGSIM_STATIC_REGISTRATION(VisualizeConstraintsBehavior);
class VisualizeConstraintsBehavior : public SurgSim::Framework::Behavior
{
public:
    explicit VisualizeConstraintsBehavior(const std::string& name);

    SURGSIM_CLASSNAME(SurgSim::Blocks::VisualizeConstraintsBehavior);

    void setVectorField(Physics::ConstraintGroupType constraintType,
                        const std::shared_ptr<Framework::Component>& vectorField);

    typedef std::vector<std::pair<int, std::shared_ptr<Framework::Component>>> FieldsType;

    void setVectorFields(const FieldsType& fields);

    FieldsType getVectorFields() const;

    void update(double dt) override;

    int getTargetManagerType() const  override;

private:


    bool doInitialize() override;

    bool doWakeUp() override;

    std::weak_ptr<SurgSim::Physics::PhysicsManager> m_manager;

    std::map<SurgSim::Physics::ConstraintGroupType, std::shared_ptr<SurgSim::Graphics::VectorFieldRepresentation>>
            m_graphics;

    boost::mutex m_graphicsMutex;

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

class VisualizeConstraints : public SurgSim::Framework::BasicSceneElement
{
public:
    explicit VisualizeConstraints(const std::string& name = "ConstraintVisualization");
};

}; // namespace Blocks

}; // namespace SurgSim

#endif // SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H