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// |
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// node.h |
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// gepetto-viewer |
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// |
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// Created by Justin Carpentier, Mathieu Geisert in November 2014. |
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// Copyright (c) 2014 LAAS-CNRS. All rights reserved. |
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// |
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#ifndef GEPETTO_VIEWER_NODE_HH |
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#define GEPETTO_VIEWER_NODE_HH |
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#include <gepetto/viewer/config-osg.h> |
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#include <gepetto/viewer/fwd.h> |
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#include <gepetto/viewer/node-property.h> |
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#include <gepetto/viewer/node-visitor.h> |
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#include <iostream> |
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namespace gepetto { |
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namespace viewer { |
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enum { VisibilityBit = 1 << 0, IntersectionBit = 1 << 1, NodeBit = 1 << 2 }; |
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/// Abstract base class of 3D objects in a scene. |
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class Node : public Properties { |
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private: |
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friend struct NodeTest; |
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std::string id_name_; // automoatic id generated by the program |
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bool dirty_; |
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/** PositionAttitudeTransform related to the global configuration */ |
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osg::MatrixTransformRefPtr transform_ptr_; |
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RangedStoredPropertyTpl<osgVector3, float> scale_; |
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osg::Matrixf Ms_; |
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StoredPropertyTpl<Configuration> M_; |
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/** Associated switch node */ |
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/** TODO: The use of multiswitch may be better */ |
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osg::GroupRefPtr switch_node_ptr_; |
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WireFrameMode selected_wireframe_; |
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std::vector< ::osg::GroupRefPtr> wireframe_modes_; |
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osg::GroupRefPtr hl_switch_node_ptr_; |
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std::size_t selected_highlight_; |
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bool highlight_enabled_; |
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std::vector< ::osg::GroupRefPtr> highlight_nodes_; |
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VisibilityMode visibilityMode_; |
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LightingMode lightingMode_; |
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/** Initialization function */ |
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void init(); |
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void updateTransform(); |
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::osg::Group* setupHighlightState(unsigned int state); |
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protected: |
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/** protected because it's used in LeafNodeCapsule */ |
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::osg::GeodeRefPtr landmark_geode_ptr_; |
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/** Geode pointer for landmarks */ |
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::osg::GeodeRefPtr geode_ptr_; |
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/** Alpha value */ |
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float alpha_; |
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/** |
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\brief Default constructor |
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*/ |
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Node(const std::string& name); |
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/** Copy constructor */ |
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Node(const Node& other); |
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/** |
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\brief Return the root node to include it in the scene |
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*/ |
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::osg::GroupRefPtr asQueue() const { return transform_ptr_; } |
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void setID(const std::string& id_name) { |
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id_name_ = id_name; |
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switch_node_ptr_->setName(id_name_); |
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} |
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void setTransparentRenderingBin(bool transparent = true, |
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osg::StateSet* ss = NULL); |
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public: |
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static const float TransparencyRenderingBinThreshold; |
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/** |
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\brief returns rotation and position of the node |
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in word frame |
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*/ |
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const Configuration& getGlobalTransform() const; |
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/** |
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\brief getID is a public method for getting the id_name of the Object |
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*/ |
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std::string getID() const { return id_name_; } |
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bool isDirty() const { return dirty_; } |
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void setDirty(bool dirty = true) { dirty_ = dirty; } |
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/** Whether this node (and its children) can be selected from mouse. |
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*/ |
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bool isSelectable() const { |
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return transform_ptr_->getNodeMask() & IntersectionBit; |
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} |
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/** Set whether this node (and its children) can be selected from mouse. |
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*/ |
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void setSelectable(bool selectable = true); |
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/** Apply a new global configuration |
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*/ |
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inline void applyConfiguration(const osgVector3& position, |
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const osgQuat& quat) { |
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applyConfiguration(Configuration(position, quat)); |
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} |
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/** Apply a new global configuration |
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*/ |
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void applyConfiguration(const Configuration& cfg) { M_.set(cfg); } |
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/** Set Static transformation |
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*/ |
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void setStaticTransform(const osgVector3& position, const osgQuat& quat); |
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/** Get Static rotation |
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*/ |
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osgQuat getStaticRotation() const; |
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/** Get Static position |
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*/ |
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osgVector3 getStaticPosition() const; |
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/** |
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\brief Virtual method for setting the visibility mode of the object : visible |
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or not visible \param visibilitymode state |
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*/ |
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virtual void setVisibilityMode(const VisibilityMode& visibility_state); |
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virtual const VisibilityMode& getVisibilityMode() const { |
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return visibilityMode_; |
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} |
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/** |
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\brief Virtual method for setting the lighting mode of the object : influence |
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by light or not \param lightingmode state |
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*/ |
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virtual void setLightingMode(const LightingMode& lighting_state); |
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virtual LightingMode getLightingMode() const; |
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/** |
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\brief Virtual method for setting the wireframe mode of the object : visible |
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or not \param wireframemode state |
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*/ |
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virtual void setWireFrameMode(const WireFrameMode& wireframe_state); |
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virtual const WireFrameMode& getWireFrameMode() const { |
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return selected_wireframe_; |
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} |
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/** Set scale value of the OSG object */ |
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void setScale(float scale) { setScale(osgVector3(scale, scale, scale)); } |
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/** Set scales value of the OSG object */ |
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void setScale(const osgVector3& scale) { scale_.set(scale); } |
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/** Get scale |
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*/ |
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osgVector3 getScale() const { return scale_.value; } |
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/** Set the color of the object */ |
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virtual void setColor(const osgVector4& color) = 0; |
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virtual osg::ref_ptr<osg::Node> getOsgNode() const; |
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/** |
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\brief Return the root node to include it in the scene |
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*/ |
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virtual ::osg::GroupRefPtr asGroup() const { return switch_node_ptr_; } |
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virtual void addLandmark(const float& size); |
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bool hasLandmark() const; |
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::osg::StateSetRefPtr getOrCreateRootStateSet() { |
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return switch_node_ptr_->getOrCreateStateSet(); |
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} |
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void deleteLandmark(); |
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bool getHighlightEnabled() const { return highlight_enabled_; } |
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void setHighlightEnabled(bool enabled) { |
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setHighlightState(0); |
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highlight_enabled_ = enabled; |
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} |
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void setHighlightState(unsigned int state); |
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const std::size_t& getHighlightState() const { return selected_highlight_; } |
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/*Tools::ConfigurationPtr_t getConfiguration () const |
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{ |
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Tools::ConfigurationPtr_t configuration = |
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Tools::Configuration::create(toDefVector3(auto_transform_ptr_->getPosition()),toEigenQuat(auto_transform_ptr_->getRotation())); |
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return configuration; |
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}*/ |
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virtual void setAlpha(const float& alpha); |
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virtual float getAlpha() const; |
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void setTransparency(const float& transparency); |
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float getTransparency() const; |
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SCENE_VIEWER_ACCEPT_VISITOR; |
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virtual void traverse(NodeVisitor& visitor); |
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/* Destructor */ |
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virtual ~Node(); |
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}; /* class Node */ |
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} /* namespace viewer */ |
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} /* namespace gepetto */ |
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#endif /* dGEPETTO_VIEWER_NODE_HH */ |
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