#include <DragAndDrop.hpp>

Inheritance diagram for dart::gui::osg::BodyNodeDnD:

Public Types
enum class	RotationOption : int { HOLD_MODKEY = 0 , ALWAYS_ON , ALWAYS_OFF }

Public Member Functions
	BodyNodeDnD (Viewer viewer, dart::dynamics::BodyNode bn, bool useExternalIK=true, bool useWholeBody=false)
	Constructor. More...

virtual	~BodyNodeDnD ()=default
	Virtual destructor. More...

dart::dynamics::BodyNode *	getBodyNode () const
	Get the BodyNode associated with this DnD. More...

void	update () override
	Called when mouse events are being handled. More...

void	move () override
	Called to specify how the Entity should be moved. More...

void	saveState () override
	Called when a point gets picked, and is used to save the current state of the Entity. More...

void	release () override
	Called when the user lets go of the object that they are dragging and dropping. More...

void	useExternalIK (bool external)
	Tell this DnD to use an external IK instead of the one embedded in the BodyNode. More...

bool	isUsingExternalIK () const
	Returns true if it is using an external IK. More...

void	useWholeBody (bool wholeBody)
	Tell this DnD to use the whole body. More...

bool	isUsingWholeBody () const
	Returns true if this DnD is using the whole body. More...

void	setPreserveOrientationModKey (::osgGA::GUIEventAdapter::ModKeyMask modkey)
	Set the key that will preserve the orientation of the body. More...

::osgGA::GUIEventAdapter::ModKeyMask	getPreserveOrientationModKey () const
	Get the key that will preserve the orientation of the body. More...

void	setJointRestrictionModKey (::osgGA::GUIEventAdapter::ModKeyMask modkey)
	Set the key that will restrict which joints are used by the DnD. More...

::osgGA::GUIEventAdapter::ModKeyMask	getJointRestrictionModKey () const
	Get the key that will restrict which joints are used by the DnD. More...

dart::dynamics::Entity *	getEntity () const
	Get the Entity that this DragAndDrop is associated with. More...

void	setObstructable (bool _obstructable)
	If true is passed in, this object will only be drag and droppable if there are no other objects between its picked point and the camera. More...

bool	isObstructable () const
	If this is true, then this object will only be drag and droppable if there are no other objects between its picked point and the camera. More...

virtual Eigen::Vector3d	getConstrainedDx () const
	Default method for getting the translation requested by the user. More...

virtual Eigen::AngleAxisd	getConstrainedRotation () const
	Default method for getting the rotation requested by the user. More...

void	unconstrain ()
	Remove all constraints from the dragging and dropping. More...

void	constrainToLine (const Eigen::Vector3d &slope)
	Constrain translation to only occur along the given slope, or constrain rotation to only occur about the given slope. More...

void	constrainToPlane (const Eigen::Vector3d &normal)
	Constrain translation to only occur within the plane defined by the given normal, or constrain rotation to only occur about the given normal. More...

bool	isMoving () const
	Returns the mAmMoving flag. More...

void	setRotationOption (RotationOption option)
	Set the option for triggering rotations instead of translations. More...

RotationOption	getRotationOption () const
	Get the current rotation option for this DnD. More...

void	setRotationModKey (::osgGA::GUIEventAdapter::ModKeyMask rotationModKey)
	Set the modkey that will be used to toggle rotation for this DnD. More...

::osgGA::GUIEventAdapter::ModKeyMask	getRotationModKey () const
	Get the modkey that will be used to toggle rotation for this DnD. More...

Protected Member Functions
void	handleDestructionNotification (const dart::common::Subject *subscription) override
	Perform cleanup when the subject is destroyed. More...

void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers. More...

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers. More...

void	receiveDestructionNotification (const Subject *_subject)
	Called whenever a Subject is destroyed (or sends out a destruction notification). More...

void	addSubject (const Subject *_subject)
	Add a Subject for this Observer. More...

void	removeSubject (const Subject *_subject)
	Remove a Subject from this Observer. More...

void	removeAllSubjects ()
	Remove all Subjects from this Observer. More...

Protected Attributes
dart::dynamics::WeakBodyNodePtr	mBodyNode
	The BodyNode associated with this DnD. More...

dart::dynamics::InverseKinematicsPtr	mIK
	The IK module being used by this DnD. More...

Eigen::Vector3d	mSavedGlobalOffset
	The offset of the pick from the BodyNode origin, expressed in global coordinates. More...

Eigen::Vector3d	mSavedLocalOffset
	The offset of the pick from the BodyNode origin, expressed in local coordinates. More...

Eigen::AngleAxisd	mSavedRotation
	The rotation of the BodyNode. More...

bool	mUseExternalIK
	Whether to use an external IK. More...

bool	mUseWholeBody
	Whether to use the whole body. More...

::osgGA::GUIEventAdapter::ModKeyMask	mPreserveOrientationModKey
	Key for preserving orientation. More...

::osgGA::GUIEventAdapter::ModKeyMask	mJointRestrictionModKey
	Key for restricting joint usage. More...

std::size_t	mAdditionalBodyNodes
	Currently unused, but this will change in the future. More...

Viewer *	mViewer
	Pointer to the DnD's Viewer. More...

dart::dynamics::Entity *	mEntity
	Pointer to the DnD's Entity. More...

Eigen::Vector3d	mPickedPosition
	The location in the world that was picked by the user. More...

Eigen::Vector3d	mVector
	Reference vector for constraint (slope for line constraint, or normal for plane constraint) More...

Eigen::Vector3d	mPivot
	Point in space about which rotations should happen. More...

ConstraintType	mConstraintType
	Constraint type for this DnD. More...

bool	mAmObstructable
	Whether other objects can block this one from being picked. More...

bool	mAmMoving
	Whether this DnD is currently moving. More...

RotationOption	mRotationOption
	Option for rotation settings. More...

::osgGA::GUIEventAdapter::ModKeyMask	mRotationModKey
	Modkey for rotation. More...

std::set< Observer * >	mObservers
	List of current Observers. More...

std::set< const Subject * >	mSubjects
	List of current Subjects for this Observer. More...

Member Enumeration Documentation

◆ RotationOption

enum dart::gui::osg::DragAndDrop::RotationOption : int

stronginherited

Enumerator
HOLD_MODKEY
ALWAYS_ON
ALWAYS_OFF

Constructor & Destructor Documentation

◆ BodyNodeDnD()

dart::gui::osg::BodyNodeDnD::BodyNodeDnD	(	Viewer *	viewer,
		dart::dynamics::BodyNode *	bn,
		bool	useExternalIK = `true`,
		bool	useWholeBody = `false`
	)

Constructor.

◆ ~BodyNodeDnD()

virtual dart::gui::osg::BodyNodeDnD::~BodyNodeDnD ( )

virtualdefault

Virtual destructor.

Member Function Documentation

◆ addObserver()

void dart::common::Subject::addObserver ( Observer * _observer ) const

protectedinherited

Add an Observer to the list of Observers.

◆ addSubject()

void dart::common::Observer::addSubject ( const Subject * _subject )

protectedinherited

Add a Subject for this Observer.

◆ constrainToLine()

void dart::gui::osg::DragAndDrop::constrainToLine ( const Eigen::Vector3d & slope )

inherited

Constrain translation to only occur along the given slope, or constrain rotation to only occur about the given slope.

For rotation, this function is equivalent to constrainToPlane

◆ constrainToPlane()

void dart::gui::osg::DragAndDrop::constrainToPlane ( const Eigen::Vector3d & normal )

inherited

Constrain translation to only occur within the plane defined by the given normal, or constrain rotation to only occur about the given normal.

For rotation, this function is equivalent to constrainToLine

◆ getBodyNode()

dart::dynamics::BodyNode * dart::gui::osg::BodyNodeDnD::getBodyNode ( ) const

Get the BodyNode associated with this DnD.

◆ getConstrainedDx()

Eigen::Vector3d dart::gui::osg::DragAndDrop::getConstrainedDx ( ) const

virtualinherited

Default method for getting the translation requested by the user.

◆ getConstrainedRotation()

Eigen::AngleAxisd dart::gui::osg::DragAndDrop::getConstrainedRotation ( ) const

virtualinherited

Default method for getting the rotation requested by the user.

◆ getEntity()

dart::dynamics::Entity * dart::gui::osg::DragAndDrop::getEntity ( ) const

inherited

Get the Entity that this DragAndDrop is associated with.

◆ getJointRestrictionModKey()

osgGA::GUIEventAdapter::ModKeyMask dart::gui::osg::BodyNodeDnD::getJointRestrictionModKey ( ) const

Get the key that will restrict which joints are used by the DnD.

◆ getPreserveOrientationModKey()

osgGA::GUIEventAdapter::ModKeyMask dart::gui::osg::BodyNodeDnD::getPreserveOrientationModKey ( ) const

Get the key that will preserve the orientation of the body.

◆ getRotationModKey()

osgGA::GUIEventAdapter::ModKeyMask dart::gui::osg::DragAndDrop::getRotationModKey ( ) const

inherited

Get the modkey that will be used to toggle rotation for this DnD.

◆ getRotationOption()

DragAndDrop::RotationOption dart::gui::osg::DragAndDrop::getRotationOption ( ) const

inherited

Get the current rotation option for this DnD.

◆ handleDestructionNotification()

void dart::gui::osg::DragAndDrop::handleDestructionNotification ( const dart::common::Subject * subscription )

overrideprotectedvirtualinherited

Perform cleanup when the subject is destroyed.

Reimplemented from dart::common::Observer.

Reimplemented in dart::gui::osg::SimpleFrameShapeDnD.

◆ isMoving()

bool dart::gui::osg::DragAndDrop::isMoving ( ) const

inherited

Returns the mAmMoving flag.

◆ isObstructable()

bool dart::gui::osg::DragAndDrop::isObstructable ( ) const

inherited

If this is true, then this object will only be drag and droppable if there are no other objects between its picked point and the camera.

Default is true.

◆ isUsingExternalIK()

bool dart::gui::osg::BodyNodeDnD::isUsingExternalIK ( ) const

Returns true if it is using an external IK.

◆ isUsingWholeBody()

bool dart::gui::osg::BodyNodeDnD::isUsingWholeBody ( ) const

Returns true if this DnD is using the whole body.

◆ move()

void dart::gui::osg::BodyNodeDnD::move ( )

overridevirtual

Called to specify how the Entity should be moved.

Implements dart::gui::osg::DragAndDrop.

◆ receiveDestructionNotification()

void dart::common::Observer::receiveDestructionNotification ( const Subject * _subject )

protectedinherited

Called whenever a Subject is destroyed (or sends out a destruction notification).

Override handleDestructionNotification() in order to customize your class's response to destruction notifications.

◆ release()

void dart::gui::osg::BodyNodeDnD::release ( )

overridevirtual

Called when the user lets go of the object that they are dragging and dropping.

This function does nothing by default, but you can override it.

Reimplemented from dart::gui::osg::DragAndDrop.

◆ removeAllSubjects()

void dart::common::Observer::removeAllSubjects ( )

protectedinherited

Remove all Subjects from this Observer.

◆ removeObserver()

void dart::common::Subject::removeObserver ( Observer * _observer ) const

protectedinherited

Remove an Observer from the list of Observers.

◆ removeSubject()

void dart::common::Observer::removeSubject ( const Subject * _subject )

protectedinherited

Remove a Subject from this Observer.

◆ saveState()

void dart::gui::osg::BodyNodeDnD::saveState ( )

overridevirtual

Called when a point gets picked, and is used to save the current state of the Entity.

Implements dart::gui::osg::DragAndDrop.

◆ sendDestructionNotification()

void dart::common::Subject::sendDestructionNotification ( ) const

protectedinherited

Send a destruction notification to all Observers.

This will cause all Observers to behave as if this Subject has been permanently deleted, so it should only be called when that behavior is desired.

◆ setJointRestrictionModKey()

void dart::gui::osg::BodyNodeDnD::setJointRestrictionModKey ( ::osgGA::GUIEventAdapter::ModKeyMask modkey )

Set the key that will restrict which joints are used by the DnD.

◆ setObstructable()

void dart::gui::osg::DragAndDrop::setObstructable ( bool _obstructable )

inherited

If true is passed in, this object will only be drag and droppable if there are no other objects between its picked point and the camera.

◆ setPreserveOrientationModKey()

void dart::gui::osg::BodyNodeDnD::setPreserveOrientationModKey ( ::osgGA::GUIEventAdapter::ModKeyMask modkey )

Set the key that will preserve the orientation of the body.

◆ setRotationModKey()

void dart::gui::osg::DragAndDrop::setRotationModKey ( ::osgGA::GUIEventAdapter::ModKeyMask rotationModKey )

inherited

Set the modkey that will be used to toggle rotation for this DnD.

◆ setRotationOption()

void dart::gui::osg::DragAndDrop::setRotationOption ( RotationOption option )

inherited

Set the option for triggering rotations instead of translations.

◆ unconstrain()

void dart::gui::osg::DragAndDrop::unconstrain ( )

inherited

Remove all constraints from the dragging and dropping.

◆ update()

void dart::gui::osg::BodyNodeDnD::update ( )

overridevirtual

Called when mouse events are being handled.

Reimplemented from dart::gui::osg::DragAndDrop.

◆ useExternalIK()

void dart::gui::osg::BodyNodeDnD::useExternalIK ( bool external )

Tell this DnD to use an external IK instead of the one embedded in the BodyNode.

Using the one embedded in the BodyNode allows it to automatically be used in a WholeBodyIK, but using an external IK allows it to be automatically solved without instructing a WholeBodyIK to solve.

◆ useWholeBody()

void dart::gui::osg::BodyNodeDnD::useWholeBody ( bool wholeBody )

Tell this DnD to use the whole body.

Member Data Documentation

◆ mAdditionalBodyNodes

std::size_t dart::gui::osg::BodyNodeDnD::mAdditionalBodyNodes

protected

Currently unused, but this will change in the future.

◆ mAmMoving

bool dart::gui::osg::DragAndDrop::mAmMoving

protectedinherited

Whether this DnD is currently moving.

◆ mAmObstructable

bool dart::gui::osg::DragAndDrop::mAmObstructable

protectedinherited

Whether other objects can block this one from being picked.

◆ mBodyNode

dart::dynamics::WeakBodyNodePtr dart::gui::osg::BodyNodeDnD::mBodyNode

protected

The BodyNode associated with this DnD.

◆ mConstraintType

ConstraintType dart::gui::osg::DragAndDrop::mConstraintType

protectedinherited

Constraint type for this DnD.

◆ mEntity

dart::dynamics::Entity* dart::gui::osg::DragAndDrop::mEntity

protectedinherited

Pointer to the DnD's Entity.

◆ mIK

dart::dynamics::InverseKinematicsPtr dart::gui::osg::BodyNodeDnD::mIK

protected

The IK module being used by this DnD.

◆ mJointRestrictionModKey

::osgGA::GUIEventAdapter::ModKeyMask dart::gui::osg::BodyNodeDnD::mJointRestrictionModKey

protected

Key for restricting joint usage.

◆ mObservers

std::set<Observer*> dart::common::Subject::mObservers

mutableprotectedinherited

List of current Observers.

◆ mPickedPosition

Eigen::Vector3d dart::gui::osg::DragAndDrop::mPickedPosition

protectedinherited

The location in the world that was picked by the user.

◆ mPivot

Eigen::Vector3d dart::gui::osg::DragAndDrop::mPivot

protectedinherited

Point in space about which rotations should happen.

◆ mPreserveOrientationModKey

::osgGA::GUIEventAdapter::ModKeyMask dart::gui::osg::BodyNodeDnD::mPreserveOrientationModKey

protected

Key for preserving orientation.

◆ mRotationModKey

::osgGA::GUIEventAdapter::ModKeyMask dart::gui::osg::DragAndDrop::mRotationModKey

protectedinherited

Modkey for rotation.

◆ mRotationOption

RotationOption dart::gui::osg::DragAndDrop::mRotationOption

protectedinherited

Option for rotation settings.

◆ mSavedGlobalOffset

Eigen::Vector3d dart::gui::osg::BodyNodeDnD::mSavedGlobalOffset

protected

The offset of the pick from the BodyNode origin, expressed in global coordinates.

◆ mSavedLocalOffset

Eigen::Vector3d dart::gui::osg::BodyNodeDnD::mSavedLocalOffset

protected

The offset of the pick from the BodyNode origin, expressed in local coordinates.

◆ mSavedRotation

Eigen::AngleAxisd dart::gui::osg::BodyNodeDnD::mSavedRotation

protected

The rotation of the BodyNode.

◆ mSubjects

std::set<const Subject*> dart::common::Observer::mSubjects

protectedinherited

List of current Subjects for this Observer.

◆ mUseExternalIK

bool dart::gui::osg::BodyNodeDnD::mUseExternalIK

protected

Whether to use an external IK.

◆ mUseWholeBody

bool dart::gui::osg::BodyNodeDnD::mUseWholeBody

protected

Whether to use the whole body.

◆ mVector

Eigen::Vector3d dart::gui::osg::DragAndDrop::mVector

protectedinherited

Reference vector for constraint (slope for line constraint, or normal for plane constraint)

◆ mViewer

Viewer* dart::gui::osg::DragAndDrop::mViewer

protectedinherited

Pointer to the DnD's Viewer.

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

◆ RotationOption

Constructor & Destructor Documentation

◆ BodyNodeDnD()

◆ ~BodyNodeDnD()

Member Function Documentation

◆ addObserver()

◆ addSubject()

◆ constrainToLine()

◆ constrainToPlane()

◆ getBodyNode()

◆ getConstrainedDx()

◆ getConstrainedRotation()

◆ getEntity()

◆ getJointRestrictionModKey()

◆ getPreserveOrientationModKey()

◆ getRotationModKey()

◆ getRotationOption()

◆ handleDestructionNotification()

◆ isMoving()

◆ isObstructable()

◆ isUsingExternalIK()

◆ isUsingWholeBody()

◆ move()

◆ receiveDestructionNotification()

◆ release()

◆ removeAllSubjects()

◆ removeObserver()

◆ removeSubject()

◆ saveState()

◆ sendDestructionNotification()

◆ setJointRestrictionModKey()

◆ setObstructable()

◆ setPreserveOrientationModKey()

◆ setRotationModKey()

◆ setRotationOption()

◆ unconstrain()

◆ update()

◆ useExternalIK()

◆ useWholeBody()

Member Data Documentation

◆ mAdditionalBodyNodes

◆ mAmMoving

◆ mAmObstructable

◆ mBodyNode

◆ mConstraintType

◆ mEntity

◆ mIK

◆ mJointRestrictionModKey

◆ mObservers

◆ mPickedPosition

◆ mPivot

◆ mPreserveOrientationModKey

◆ mRotationModKey

◆ mRotationOption

◆ mSavedGlobalOffset

◆ mSavedLocalOffset

◆ mSavedRotation

◆ mSubjects

◆ mUseExternalIK

◆ mUseWholeBody

◆ mVector

◆ mViewer