node.h

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//
//  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 <iostream>
#include <gepetto/viewer/fwd.h>
#include <gepetto/viewer/node-visitor.h>
#include <gepetto/viewer/node-property.h>
#include <gepetto/viewer/config-osg.h>

namespace gepetto {
namespace viewer {
    
    enum {
      IntersectionBit = 0x1,
      NodeBit         = 0x2
    };
    
    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;
        }
        
        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 */