JointMaker.hh

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/*
 * Copyright (C) 2014-2015 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 _GAZEBO_JOINTMAKER_HH_
#define _GAZEBO_JOINTMAKER_HH_

#include <map>
#include <string>
#include <vector>

#include <sdf/sdf.hh>

#include "gazebo/common/MouseEvent.hh"
#include "gazebo/common/KeyEvent.hh"
#include "gazebo/common/CommonTypes.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/gui/qt.h"
#include "gazebo/util/system.hh"

namespace Ogre
{
  class BillboardSet;
}

namespace boost
{
  class recursive_mutex;
}

namespace gazebo
{
  namespace gui
  {
    class JointData;
    class JointInspector;


    class GZ_GUI_MODEL_VISIBLE JointMaker : public QObject
    {
      Q_OBJECT

      public: enum JointType
      {
        JOINT_NONE,
        JOINT_FIXED,
        JOINT_SLIDER,
        JOINT_HINGE,
        JOINT_HINGE2,
        JOINT_SCREW,
        JOINT_UNIVERSAL,
        JOINT_BALL
      };

      public: JointMaker();

      public: virtual ~JointMaker();

      public: void Reset();

      public: void EnableEventHandlers();

      public: void DisableEventHandlers();

      public: void AddJoint(const std::string &_type);

      public: void AddJoint(JointType _type);

      public: JointData *CreateJoint(rendering::VisualPtr _parent,
          rendering::VisualPtr _child);

      public: void CreateHotSpot(JointData *_joint);

      public: void Update();

      public: void RemoveJoint(const std::string &_jointName);

      public: void RemoveJointsByLink(const std::string &_linkName);

      public: std::vector<JointData *> GetJointDataByLink(
          const std::string &_linkName) const;

      public: void GenerateSDF();

      public: sdf::ElementPtr GetSDF() const;

      public: static unsigned int GetJointAxisCount(
          JointMaker::JointType _type);

      public: static std::string GetTypeAsString(JointMaker::JointType _type);

      public: static JointType ConvertJointType(const std::string &_type);

      public: JointMaker::JointType GetState() const;

      public: void Stop();

      public: unsigned int GetJointCount();

      public: void CreateJointFromSDF(sdf::ElementPtr _jointElem,
          const std::string &_modelName = "");

      public: void AddScopedLinkName(const std::string &_name);

      public slots: void ShowJoints(bool _show);

      public: void SetSelected(const std::string &_name, const bool selected);

      public: void SetSelected(rendering::VisualPtr _jointVis,
          const bool selected);

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

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

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

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

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

      private: math::Vector3 GetLinkWorldCentroid(
          const rendering::VisualPtr _visual);

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

      private: std::string GetScopedLinkName(const std::string &_name);

      private: void ShowContextMenu(const std::string &_joint);

      private: void DeselectAll();

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

      private: void OnSetSelectedJoint(const std::string &_name,
          const bool _selected);

      private: JointData *CreateJointLine(const std::string &_name,
          rendering::VisualPtr _parent);

      Q_SIGNALS: void JointAdded();

      private slots: void OnOpenInspector();

      private slots: void OnDelete();

      private: std::vector<ignition::math::Vector3d> unitVectors;

      private: JointMaker::JointType jointType;

      private: rendering::VisualPtr hoverVis;

      private: rendering::VisualPtr prevHoverVis;

      private: rendering::VisualPtr selectedVis;

      private: std::string inspectName;

      private: std::map<std::string, JointData *> joints;

      private: JointData *mouseJoint;

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

      private: bool newJointCreated;

      private: std::map<JointMaker::JointType, std::string>
          jointMaterials;

      private: sdf::ElementPtr modelSDF;

      private: int jointCounter;

      private: QAction *inspectAct;

      private: boost::recursive_mutex *updateMutex;

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

      private: std::vector<std::string> scopedLinkedNames;

      private: static std::map<JointMaker::JointType, std::string> jointTypes;
    };


    class GZ_GUI_MODEL_VISIBLE JointData : public QObject
    {
      Q_OBJECT

      public: std::string name;

      public: rendering::VisualPtr visual;

      public: rendering::JointVisualPtr jointVisual;

      public: rendering::VisualPtr hotspot;

      public: rendering::VisualPtr parent;

      public: rendering::VisualPtr child;

      public: math::Pose parentPose;

      public: math::Pose childPose;

      public: math::Vector3 childScale;

      public: rendering::DynamicLines *line;

      public: Ogre::BillboardSet *handles;

      public: JointMaker::JointType type;

      public: bool dirty;

      public: msgs::JointPtr jointMsg;

      public: JointInspector *inspector;

      public: void OpenInspector();

      private slots: void OnOpenInspector();

      private slots: void OnApply();
    };
  }
}
#endif