DragAndDrop.hpp

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#ifndef DART_GUI_OSG_DRAGANDDROP_HPP_
#define DART_GUI_OSG_DRAGANDDROP_HPP_
 
#include <functional>
 
#include <Eigen/Geometry>
 
#include "dart/common/sub_ptr.hpp"
#include "dart/dynamics/Entity.hpp"
#include "dart/dynamics/Shape.hpp"
#include "DefaultEventHandler.hpp"
 
namespace dart {
 
namespace dynamics {
class SimpleFrame;
} // namespace dynamics
 
namespace gui {
namespace osg {
 
class Viewer;
class InteractiveFrame;
 
class DragAndDrop : public dart::common::Subject, public dart::common::Observer
{
public:
  enum class RotationOption : int
  {
 
    HOLD_MODKEY = 0, // Default setting, hold ctrl key to rotate
    ALWAYS_ON,
    ALWAYS_OFF
 
  };
 
  DragAndDrop(Viewer* viewer, dart::dynamics::Entity* entity);
 
  virtual ~DragAndDrop();
 
  dart::dynamics::Entity* getEntity() const;
 
  virtual void update();
 
  void setObstructable(bool _obstructable);
 
  bool isObstructable() const;
 
  virtual void move() = 0;
 
  virtual void saveState() = 0;
 
  virtual void release();
 
  virtual Eigen::Vector3d getConstrainedDx() const;
 
  virtual Eigen::AngleAxisd getConstrainedRotation() const;
 
  void unconstrain();
 
  void constrainToLine(const Eigen::Vector3d& slope);
 
  void constrainToPlane(const Eigen::Vector3d& normal);
 
  bool isMoving() const;
 
  void setRotationOption(RotationOption option);
 
  RotationOption getRotationOption() const;
 
  void setRotationModKey(::osgGA::GUIEventAdapter::ModKeyMask rotationModKey);
 
  ::osgGA::GUIEventAdapter::ModKeyMask getRotationModKey() const;
 
protected:
  void handleDestructionNotification(
      const dart::common::Subject* subscription) override;
 
  Viewer* mViewer;
 
  dart::dynamics::Entity* mEntity;
 
  Eigen::Vector3d mPickedPosition;
 
  Eigen::Vector3d mVector;
 
  Eigen::Vector3d mPivot;
 
  ConstraintType mConstraintType;
 
  bool mAmObstructable;
 
  bool mAmMoving;
 
  RotationOption mRotationOption;
 
  ::osgGA::GUIEventAdapter::ModKeyMask mRotationModKey;
};
 
//==============================================================================
class SimpleFrameDnD : public DragAndDrop
{
public:
  SimpleFrameDnD(Viewer* viewer, dart::dynamics::SimpleFrame* frame);
 
  virtual ~SimpleFrameDnD() = default;
 
  dart::dynamics::SimpleFrame* getSimpleFrame() const;
 
  // Documentation inherited
  void move() override;
 
  // Documentation inherited
  void saveState() override;
 
protected:
  dart::dynamics::SimpleFrame* mFrame;
 
  Eigen::AngleAxisd mSavedRotation;
};
 
//==============================================================================
class SimpleFrameShapeDnD : public SimpleFrameDnD
{
public:
  SimpleFrameShapeDnD(
      Viewer* viewer,
      dart::dynamics::SimpleFrame* frame,
      dart::dynamics::Shape* shape);
 
  virtual ~SimpleFrameShapeDnD() = default;
 
  dart::dynamics::Shape* getShape() const;
 
  // Documentation inherited
  void update() override;
 
protected:
  // Documentation inherited
  void handleDestructionNotification(
      const dart::common::Subject* subscription) override;
 
  dart::dynamics::Shape* mShape;
};
 
//==============================================================================
class InteractiveFrameDnD : public DragAndDrop
{
public:
  InteractiveFrameDnD(Viewer* viewer, dart::gui::osg::InteractiveFrame* frame);
 
  virtual ~InteractiveFrameDnD() = default;
 
  InteractiveFrame* getFrame() const;
 
  // Documentation inherited
  void update() override;
 
  // Documentation inherited
  void move() override;
 
  // Documentation inherited
  void saveState() override;
 
protected:
  std::vector<DragAndDrop*> mDnDs;
 
  InteractiveFrame* mInteractiveFrame;
};
 
//==============================================================================
class BodyNodeDnD : public DragAndDrop
{
public:
  BodyNodeDnD(
      Viewer* viewer,
      dart::dynamics::BodyNode* bn,
      bool useExternalIK = true,
      bool useWholeBody = false);
 
  virtual ~BodyNodeDnD() = default;
 
  dart::dynamics::BodyNode* getBodyNode() const;
 
  // Documentation inherited
  void update() override;
 
  // Documentation inherited
  void move() override;
 
  // Documentation inherited
  void saveState() override;
 
  // Documentation inherited
  void release() override;
 
  void useExternalIK(bool external);
 
  bool isUsingExternalIK() const;
 
  void useWholeBody(bool wholeBody);
 
  bool isUsingWholeBody() const;
 
  void setPreserveOrientationModKey(
      ::osgGA::GUIEventAdapter::ModKeyMask modkey);
 
  ::osgGA::GUIEventAdapter::ModKeyMask getPreserveOrientationModKey() const;
 
  void setJointRestrictionModKey(::osgGA::GUIEventAdapter::ModKeyMask modkey);
 
  ::osgGA::GUIEventAdapter::ModKeyMask getJointRestrictionModKey() const;
 
protected:
  dart::dynamics::WeakBodyNodePtr mBodyNode;
 
  dart::dynamics::InverseKinematicsPtr mIK;
 
  Eigen::Vector3d mSavedGlobalOffset;
 
  Eigen::Vector3d mSavedLocalOffset;
 
  Eigen::AngleAxisd mSavedRotation;
 
  bool mUseExternalIK;
 
  bool mUseWholeBody;
 
  ::osgGA::GUIEventAdapter::ModKeyMask mPreserveOrientationModKey;
 
  ::osgGA::GUIEventAdapter::ModKeyMask mJointRestrictionModKey;
 
  std::size_t mAdditionalBodyNodes;
};
 
} // namespace osg
} // namespace gui
} // namespace dart
 
#endif // DART_GUI_OSG_DRAGANDDROP_HPP_