node.h

Go to the documentation of this file.

//
//  node.h
//  gepetto-viewer
//
//  Created by Justin Carpentier, Mathieu Geisert in November 2014.
//  Copyright (c) 2014 LAAS-CNRS. All rights reserved.
//
 
#ifndef GEPETTO_VIEWER_NODE_HH
#define GEPETTO_VIEWER_NODE_HH
 
#include <gepetto/viewer/config-osg.h>
#include <gepetto/viewer/fwd.h>
#include <gepetto/viewer/node-property.h>
#include <gepetto/viewer/node-visitor.h>
 
#include <iostream>
 
namespace gepetto {
namespace viewer {
 
enum { VisibilityBit = 1 << 0, IntersectionBit = 1 << 1, NodeBit = 1 << 2 };
 
class Node : public Properties {
 private:
  friend struct NodeTest;
 
  std::string id_name_;  // automoatic id generated by the program
  bool dirty_;
 
  osg::MatrixTransformRefPtr transform_ptr_;
  RangedStoredPropertyTpl<osgVector3, float> scale_;
  osg::Matrixf Ms_;
  StoredPropertyTpl<Configuration> M_;
 
  osg::GroupRefPtr switch_node_ptr_;
  WireFrameMode selected_wireframe_;
  std::vector< ::osg::GroupRefPtr> wireframe_modes_;
 
  osg::GroupRefPtr hl_switch_node_ptr_;
  std::size_t selected_highlight_;
  bool highlight_enabled_;
  std::vector< ::osg::GroupRefPtr> highlight_nodes_;
 
  VisibilityMode visibilityMode_;
  LightingMode lightingMode_;
 
  void init();
 
  void updateTransform();
 
  ::osg::Group* setupHighlightState(unsigned int state);
 
 protected:
  ::osg::GeodeRefPtr landmark_geode_ptr_;
 
  ::osg::GeodeRefPtr geode_ptr_;
  float alpha_;
 
  Node(const std::string& name);
 
  Node(const Node& other);
 
  ::osg::GroupRefPtr asQueue() const { return transform_ptr_; }
 
  void setID(const std::string& id_name) {
    id_name_ = id_name;
    switch_node_ptr_->setName(id_name_);
  }
 
  void setTransparentRenderingBin(bool transparent = true,
                                  osg::StateSet* ss = NULL);
 
 public:
  static const float TransparencyRenderingBinThreshold;
 
  const Configuration& getGlobalTransform() const;
 
  std::string getID() const { return id_name_; }
 
  bool isDirty() const { return dirty_; }
 
  void setDirty(bool dirty = true) { dirty_ = dirty; }
 
  bool isSelectable() const {
    return transform_ptr_->getNodeMask() & IntersectionBit;
  }
 
  void setSelectable(bool selectable = true);
 
  inline void applyConfiguration(const osgVector3& position,
                                 const osgQuat& quat) {
    applyConfiguration(Configuration(position, quat));
  }
 
  void applyConfiguration(const Configuration& cfg) { M_.set(cfg); }
 
  void setStaticTransform(const osgVector3& position, const osgQuat& quat);
 
  osgQuat getStaticRotation() const;
 
  osgVector3 getStaticPosition() const;
 
  virtual void setVisibilityMode(const VisibilityMode& visibility_state);
 
  virtual const VisibilityMode& getVisibilityMode() const {
    return visibilityMode_;
  }
 
  virtual void setLightingMode(const LightingMode& lighting_state);
 
  virtual LightingMode getLightingMode() const;
 
  virtual void setWireFrameMode(const WireFrameMode& wireframe_state);
 
  virtual const WireFrameMode& getWireFrameMode() const {
    return selected_wireframe_;
  }
 
  void setScale(float scale) { setScale(osgVector3(scale, scale, scale)); }
 
  void setScale(const osgVector3& scale) { scale_.set(scale); }
 
  osgVector3 getScale() const { return scale_.value; }
 
  virtual void setColor(const osgVector4& color) = 0;
 
  virtual osg::ref_ptr<osg::Node> getOsgNode() const;
 
  virtual ::osg::GroupRefPtr asGroup() const { return switch_node_ptr_; }
 
  virtual void addLandmark(const float& size);
 
  bool hasLandmark() const;
 
  ::osg::StateSetRefPtr getOrCreateRootStateSet() {
    return switch_node_ptr_->getOrCreateStateSet();
  }
 
  void deleteLandmark();
 
  bool getHighlightEnabled() const { return highlight_enabled_; }
 
  void setHighlightEnabled(bool enabled) {
    setHighlightState(0);
    highlight_enabled_ = enabled;
  }
 
  void setHighlightState(unsigned int state);
 
  const std::size_t& getHighlightState() const { return selected_highlight_; }
 
  /*Tools::ConfigurationPtr_t getConfiguration () const
  {
      Tools::ConfigurationPtr_t configuration =
  Tools::Configuration::create(toDefVector3(auto_transform_ptr_->getPosition()),toEigenQuat(auto_transform_ptr_->getRotation()));
      return configuration;
  }*/
 
  virtual void setAlpha(const float& alpha);
  virtual float getAlpha() const;
 
  void setTransparency(const float& transparency);
  float getTransparency() const;
 
  SCENE_VIEWER_ACCEPT_VISITOR;
  virtual void traverse(NodeVisitor& visitor);
 
  /* Destructor */
  virtual ~Node();
 
}; /* class Node */
 
} /* namespace viewer */
} /* namespace gepetto */
 
#endif /* dGEPETTO_VIEWER_NODE_HH */