GridVisual.hpp

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#ifndef DART_GUI_OSG_GRIDVISUAL_HPP_
#define DART_GUI_OSG_GRIDVISUAL_HPP_
 
#include <osg/Geode>
#include <osg/LineWidth>
 
#include "dart/dynamics/SmartPointer.hpp"
 
#include "dart/gui/osg/ShapeFrameNode.hpp"
#include "dart/gui/osg/Viewer.hpp"
 
namespace dart {
namespace gui {
namespace osg {
 
class GridVisual : public ViewerAttachment
{
public:
  enum class PlaneType : unsigned char
  {
    XY = 0u,
    YZ = 1u,
    ZX = 2u,
  };
 
  GridVisual();
 
  void setNumCells(std::size_t cells);
 
  std::size_t getNumCells() const;
 
  void setMinorLineStepSize(double size);
 
  double getMinorLineStepSize() const;
 
  void setNumMinorLinesPerMajorLine(std::size_t size);
 
  std::size_t getNumMinorLinesPerMajorLine() const;
 
  void setPlaneType(PlaneType type);
 
  PlaneType getPlaneType() const;
 
  void setOffset(const Eigen::Vector3d& offset);
 
  const Eigen::Vector3d& getOffset() const;
 
  void display(bool display);
 
  bool isDisplayed() const;
 
  void setMajorLineColor(const Eigen::Vector4d& color);
 
  Eigen::Vector4d getMajorLineColor() const;
 
  void setMinorLineColor(const Eigen::Vector4d& color);
 
  Eigen::Vector4d getMinorLineColor() const;
 
  void setAxisLineWidth(float width);
 
  float getAxisLineWidth() const;
 
  void setMajorLineWidth(float width);
 
  float getMajorLineWidth() const;
 
  void setMinorLineWidth(float width);
 
  float getMinorLineWidth() const;
 
  void refresh() override final;
 
protected:
  void initialize();
 
  PlaneType mPlaneType;
 
  std::size_t mNumCells;
 
  double mMinorLineStepSize;
 
  std::size_t mNumMinorLinesPerMajorLine;
 
  Eigen::Vector3d mOffset;
 
  bool mDisplayGrid;
 
  ::osg::ref_ptr<::osg::Vec4Array> mAxisLineColor;
 
  ::osg::ref_ptr<::osg::Vec4Array> mMajorLineColor;
 
  ::osg::ref_ptr<::osg::Vec4Array> mMinorLineColor;
 
  ::osg::ref_ptr<::osg::Geode> mGeode;
 
  ::osg::ref_ptr<::osg::Geometry> mAxisLineGeom;
 
  ::osg::ref_ptr<::osg::Geometry> mMajorLineGeom;
 
  ::osg::ref_ptr<::osg::Geometry> mMinorLineGeom;
 
  ::osg::ref_ptr<::osg::Vec3Array> mMinorLineVertices;
 
  ::osg::ref_ptr<::osg::Vec3Array> mMajorLineVertices;
 
  ::osg::ref_ptr<::osg::Vec3Array> mAxisLineVertices;
 
  ::osg::ref_ptr<::osg::DrawElementsUInt> mAxis1PositiveFaces;
 
  ::osg::ref_ptr<::osg::DrawElementsUInt> mAxis1NegativeFaces;
 
  ::osg::ref_ptr<::osg::DrawElementsUInt> mAxis2PositiveFaces;
 
  ::osg::ref_ptr<::osg::DrawElementsUInt> mAxis2NegativeFaces;
 
  ::osg::ref_ptr<::osg::DrawElementsUInt> mMajorLineFaces;
 
  ::osg::ref_ptr<::osg::DrawElementsUInt> mMinorLineFaces;
 
  ::osg::ref_ptr<::osg::LineWidth> mAxisLineWidth;
 
  ::osg::ref_ptr<::osg::LineWidth> mMajorLineWidth;
 
  ::osg::ref_ptr<::osg::LineWidth> mMinorLineWidth;
 
  bool mNeedUpdate;
};
 
} // namespace osg
} // namespace gui
} // namespace dart
 
#endif // DART_GUI_OSG_GRIDVISUAL_HPP_