BuildingMaker.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * 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 _GAZEBO_GUI_BUILDING_BUILDINGMAKER_HH_
#define _GAZEBO_GUI_BUILDING_BUILDINGMAKER_HH_

#include <string>
#include <vector>
#include <memory>

#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector3.hh>

#include "gazebo/common/KeyEvent.hh"
#include "gazebo/common/MouseEvent.hh"

#include "gazebo/gui/qt.h"

#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace gui
  {
    class BuildingModelManip;
    class EditorItem;

    // Forward declare provate data.
    class BuildingMakerPrivate;


    class GZ_GUI_VISIBLE BuildingMaker
    {
      public: BuildingMaker();

      public: ~BuildingMaker();

      public: void OnEdit(bool _checked);

      public: void SetModelName(const std::string &_modelName);

      public: void FinishModel();

      public: std::string AddPart(const std::string &_type,
          const QVector3D &_size, const QVector3D &_pos, double _angle);

      public: std::string AddWall(const QVector3D &_size, const QVector3D &_pos,
          double _angle);

      public: std::string AddWindow(const QVector3D &_size,
          const QVector3D &_pos, double _angle);

      public: std::string AddDoor(const QVector3D &_size, const QVector3D &_pos,
          double _angle);

      public: std::string AddStairs(const QVector3D &_size,
          const QVector3D &_pos, double _angle, int _steps);

      public: std::string AddFloor(const QVector3D &_size,
          const QVector3D &_pos, double _angle);

      public: void RemovePart(const std::string &_partName);

      public: void RemoveWall(const std::string &_wallName);

      public: void ConnectItem(const std::string &_partName,
          const EditorItem *_item);

      public: void AttachManip(const std::string &_child,
          const std::string &_parent);

      public: void DetachFromParent(const std::string &_child);

      public: void DetachAllChildren(const std::string &_parent);

      public: bool IsAttached(const std::string &_child) const;

      public: BuildingModelManip *ManipByName(const std::string &_name);

      public: static ignition::math::Vector3d ConvertSize(
          const double _width, const double _depth, const double _height);

      public: static ignition::math::Pose3d ConvertPose(const double _x,
          const double _y, const double _z, const double _roll,
          const double _pitch, const double _yaw);

      public: static double Convert(double _value);

      public: static double ConvertAngle(double _angle);

      public: void Reset();

      public: void GenerateSDF();

      public: void BuildingChanged();

      public: std::string ModelSDF() const;

      private: void CreateTheEntity();

      private: bool Init();

      private: std::string CreateModel();

      private: void GenerateSDFWithCSG();

      private: std::string TemplateSDFString() const;

      private: static bool PointCompareY(const QPointF &_a, const QPointF &_b);

      private: static bool RectCompareX(const QRectF &_a, const QRectF &_b);

      private: static bool RectCompareY(const QRectF &_a, const QRectF &_b);

      private: void SubdivideRectSurface(const QRectF &_surface,
        const std::vector<QRectF> &_holes, std::vector<QRectF> &_subdivisions);

      private: void SaveModelFiles();

      private: bool OnSave();

      private: bool OnSaveAs();

      private: void OnNameChanged(const std::string &_modelName);

      private: void OnNew();

      private: void OnExit();

      private: void OnChangeLevel(int _level);

      private: void StopMaterialModes();

      private: void ResetHoverVis();

      private: void OnColorSelected(QColor _color);

      private: void OnTextureSelected(QString _texture);

      private: bool On3dMouseMove(const common::MouseEvent &_event);

      private: bool On3dMousePress(const common::MouseEvent &_event);

      private: bool On3dMouseRelease(const common::MouseEvent &_event);

      private: bool On3dKeyPress(const common::KeyEvent &_event);

      public: static const double conversionScale;

      private: std::unique_ptr<BuildingMakerPrivate> dataPtr;
    };
  }
}
#endif