GLWidget.hh

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/*
 * Copyright (C) 2012-2015 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 _GL_WIDGET_HH_
#define _GL_WIDGET_HH_

#include <string>
#include <vector>
#include <utility>
#include <list>

#include <boost/thread/mutex.hpp>

#include "gazebo/gui/qt.h"
#include "gazebo/rendering/RenderTypes.hh"

#include "gazebo/transport/TransportTypes.hh"

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

#include "gazebo/math/Pose.hh"

#include "gazebo/msgs/msgs.hh"

#include "gazebo/gui/BoxMaker.hh"
#include "gazebo/gui/SphereMaker.hh"
#include "gazebo/gui/CylinderMaker.hh"
#include "gazebo/gui/MeshMaker.hh"
#include "gazebo/gui/ModelMaker.hh"
#include "gazebo/gui/LightMaker.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace gui
  {
    class GAZEBO_VISIBLE GLWidget : public QWidget
    {
      Q_OBJECT

      public: enum SelectionLevels {
                  MODEL,
                  LINK
                };

      public: GLWidget(QWidget *_parent = 0);
      public: virtual ~GLWidget();

      public: void ViewScene(rendering::ScenePtr _scene);
      public: rendering::UserCameraPtr GetCamera() const;
      public: rendering::ScenePtr GetScene() const;

      public: void Clear();

      public: std::vector<rendering::VisualPtr> SelectedVisuals() const;

      signals: void clicked();

      signals: void selectionMsgReceived(const QString &_name);

      protected: virtual void moveEvent(QMoveEvent *_e);
      protected: virtual void paintEvent(QPaintEvent *_e);
      protected: virtual void resizeEvent(QResizeEvent *_e);

      protected: virtual void showEvent(QShowEvent *_e);

      protected: virtual void enterEvent(QEvent * event);


      protected: void keyPressEvent(QKeyEvent *_event);
      protected: void keyReleaseEvent(QKeyEvent *_event);
      protected: void wheelEvent(QWheelEvent *_event);
      protected: void mousePressEvent(QMouseEvent *_event);
      protected: void mouseDoubleClickEvent(QMouseEvent *_event);
      protected: void mouseMoveEvent(QMouseEvent *_event);
      protected: void mouseReleaseEvent(QMouseEvent *_event);

      protected: virtual QPaintEngine *paintEngine() const;

      private: std::string GetOgreHandle() const;

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

      private: void OnMouseMoveNormal();

      private: void OnMouseMoveMakeEntity();

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

      private: void OnMouseReleaseNormal();

      private: void OnMouseReleaseMakeEntity();

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

      private: void OnMousePressNormal();

      private: void OnMousePressMakeEntity();

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

      private: void OnRequest(ConstRequestPtr &_msg);
      private: void OnCreateScene(const std::string &_name);
      private: void OnRemoveScene(const std::string &_name);
      private: void OnMoveMode(bool _mode);
      private: void OnCreateEntity(const std::string &_type,
                                   const std::string &_data);

      private: void OnFPS();
      private: void OnOrbit();
      private: void OnManipMode(const std::string &_mode);

      private: void OnSetSelectedEntity(const std::string &_name,
                                        const std::string &_mode);

      private: bool eventFilter(QObject *_obj, QEvent *_event);

      private: void ClearSelection();

      private: void PushHistory(const std::string &_visName,
                                const math::Pose &_pose);
      private: void PopHistory();

      private: void SetSelectedVisual(rendering::VisualPtr _vis);

      private: void DeselectAllVisuals();

      private: void OnAlignMode(const std::string &_axis,
          const std::string &_config, const std::string &_target,
          bool _preview);

      private: void Copy(const std::string &_name);

      private: void Paste(const std::string &_name);

      private slots: void OnCopy();

      private slots: void OnPaste();

      private slots: void OnModelEditor(bool _checked);

      private slots: void OnOrtho();

      private slots: void OnPerspective();

      private: void SetMouseEventButton(const Qt::MouseButton &_button);

      private: void SetMouseEventButtons(const Qt::MouseButtons &_buttons);

      private: int windowId;

      private: rendering::UserCameraPtr userCamera;
      private: rendering::ScenePtr scene;
      private: QFrame *renderFrame;
      private: common::MouseEvent mouseEvent;

      private: common::KeyEvent keyEvent;

      private: std::vector<event::ConnectionPtr> connections;

      private: EntityMaker *entityMaker;
      private: BoxMaker boxMaker;
      private: SphereMaker sphereMaker;
      private: CylinderMaker cylinderMaker;
      private: MeshMaker meshMaker;
      private: ModelMaker modelMaker;
      private: PointLightMaker pointLightMaker;
      private: SpotLightMaker spotLightMaker;
      private: DirectionalLightMaker directionalLightMaker;

      private: LightMaker lightMaker;

      private: std::vector<rendering::VisualPtr> selectedVisuals;

      private: SelectionLevels selectionLevel;

      private: transport::NodePtr node;
      private: transport::PublisherPtr modelPub, factoryPub;

      private: transport::PublisherPtr selectionPub;

      private: transport::SubscriberPtr requestSub;

      private: std::string keyText;
      private: Qt::KeyboardModifiers keyModifiers;
      private: QPoint onShiftMousePos;

      private: std::string copiedObject;

      private: std::string state;

      private: std::list<std::pair<std::string, math::Pose> > moveHistory;

      private: std::string copyEntityName;

      private: bool modelEditorEnabled;

      private: boost::mutex selectedVisMutex;
    };
  }
}

#endif