GridVisual.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#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_