Viewer.hpp

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#ifndef DART_GUI_OSG_VIEWER_HPP_
#define DART_GUI_OSG_VIEWER_HPP_
 
#include <map>
#include <memory>
#include <unordered_set>
 
#include <Eigen/Core>
#include <osgShadow/ShadowTechnique>
#include <osgViewer/Viewer>
 
#include "dart/common/ClassWithVirtualBase.hpp"
#include "dart/common/Subject.hpp"
 
namespace dart {
 
namespace simulation {
class World;
} // namespace simulation
 
namespace dynamics {
class Entity;
class SimpleFrame;
class Shape;
class BodyNode;
} // namespace dynamics
 
namespace gui {
namespace osg {
 
namespace detail {
class CameraModeCallback;
} // namespace detail
 
class WorldNode;
class DefaultEventHandler;
class DragAndDrop;
class SimpleFrameDnD;
class SimpleFrameShapeDnD;
class InteractiveFrame;
class InteractiveFrameDnD;
class BodyNodeDnD;
class Viewer;
class SaveScreen;
 
enum class CameraMode
{
  RGBA,
 
  DEPTH,
};
 
[[nodiscard]] std::string toString(CameraMode mode);
 
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class ViewerAttachment : public virtual ::osg::Group
{
public:
  friend class Viewer;
 
  ViewerAttachment();
 
  virtual ~ViewerAttachment();
 
  virtual void refresh() = 0;
 
  Viewer* getViewer();
 
  const Viewer* getViewer() const;
 
protected:
  virtual void customAttach(Viewer* newViewer);
 
  virtual void attach(Viewer* newViewer);
 
private:
  Viewer* mViewer;
};
 
class Viewer : public osgViewer::Viewer, public dart::common::Subject
{
public:
  Viewer(const ::osg::Vec4& clearColor = ::osg::Vec4(0.9, 0.9, 0.9, 1.0));
 
  virtual ~Viewer();
 
  // TODO(MXG): Add a bool argument that instructs the viewer to append a date
  // and time to the name of the file.
  void captureScreen(const std::string& filename);
 
  void record(
      const std::string& directory,
      const std::string& prefix = "image",
      bool restart = false,
      std::size_t digits = 6);
 
  void pauseRecording();
 
  bool isRecording() const;
 
  virtual void switchDefaultEventHandler(bool _on);
 
  DefaultEventHandler* getDefaultEventHandler() const;
 
  virtual void switchHeadlights(bool _on);
 
  bool checkHeadlights() const;
 
  void addWorldNode(WorldNode* _newWorldNode, bool _active = true);
 
  void removeWorldNode(WorldNode* _oldWorldNode);
 
  void removeWorldNode(std::shared_ptr<dart::simulation::World> _oldWorld);
 
  WorldNode* getWorldNode(
      std::shared_ptr<dart::simulation::World> _world) const;
 
  void addAttachment(ViewerAttachment* _attachment);
 
  void removeAttachment(ViewerAttachment* _attachment);
 
  const std::unordered_set<ViewerAttachment*>& getAttachments() const;
 
  ::osg::Group* getLightGroup();
 
  const ::osg::Group* getLightGroup() const;
 
  const ::osg::ref_ptr<::osg::LightSource>& getLightSource(
      std::size_t index = 0) const;
 
  void setupDefaultLights();
 
  void setUpwardsDirection(const ::osg::Vec3& _up);
 
  void setUpwardsDirection(const Eigen::Vector3d& _up);
 
  void setWorldNodeActive(WorldNode* _node, bool _active = true);
 
  void setWorldNodeActive(
      std::shared_ptr<dart::simulation::World> _world, bool _active = true);
 
  void simulate(bool _on);
 
  bool isSimulating() const;
 
  void allowSimulation(bool _allow);
 
  bool isAllowingSimulation() const;
 
  DragAndDrop* enableDragAndDrop(dart::dynamics::Entity* _entity);
 
  SimpleFrameDnD* enableDragAndDrop(dart::dynamics::SimpleFrame* _frame);
 
  SimpleFrameShapeDnD* enableDragAndDrop(
      dart::dynamics::SimpleFrame* _frame, dart::dynamics::Shape* _shape);
 
  InteractiveFrameDnD* enableDragAndDrop(InteractiveFrame* _frame);
 
  BodyNodeDnD* enableDragAndDrop(
      dart::dynamics::BodyNode* _bn,
      bool _useExternalIK = true,
      bool _useWholeBody = false);
 
  bool disableDragAndDrop(DragAndDrop* _dnd);
 
  bool disableDragAndDrop(SimpleFrameDnD* _dnd);
 
  bool disableDragAndDrop(SimpleFrameShapeDnD* _dnd);
 
  bool disableDragAndDrop(InteractiveFrameDnD* _dnd);
 
  bool disableDragAndDrop(BodyNodeDnD* _dnd);
 
  const std::string& getInstructions() const;
 
  void addInstructionText(const std::string& _instruction);
 
  virtual void updateViewer();
 
  void updateDragAndDrops();
 
  const ::osg::ref_ptr<::osg::Group>& getRootGroup() const;
 
  void setVerticalFieldOfView(double fov);
 
  double getVerticalFieldOfView() const;
 
  void setCameraMode(CameraMode mode);
 
  CameraMode getCameraMode() const;
 
protected:
  friend class SaveScreen;
 
  std::size_t mImageSequenceNum;
 
  std::size_t mImageDigits;
 
  bool mRecording;
 
  bool mScreenCapture;
 
  std::string mImageDirectory;
 
  std::string mImagePrefix;
 
  std::string mScreenCapName;
 
  ::osg::ref_ptr<DefaultEventHandler> mDefaultEventHandler;
 
  ::osg::ref_ptr<::osg::Group> mRootGroup;
 
  ::osg::ref_ptr<::osg::Group> mLightGroup;
 
  ::osg::ref_ptr<::osg::Light> mLight1;
 
  ::osg::ref_ptr<::osg::LightSource> mLightSource1;
 
  ::osg::ref_ptr<::osg::Light> mLight2;
 
  ::osg::ref_ptr<::osg::LightSource> mLightSource2;
 
  ::osg::Vec3 mUpwards;
 
  ::osg::Vec3 mOver;
 
  bool mSimulating;
 
  bool mAllowSimulation;
 
  bool mHeadlights;
 
  std::map<::osg::ref_ptr<WorldNode>, bool> mWorldNodes;
 
  std::unordered_set<ViewerAttachment*> mAttachments;
 
  std::string mInstructions;
 
  // TODO(MXG): Consolidate all these maps into a single map of maps which uses
  // typeid as a key
 
  std::map<dart::dynamics::SimpleFrame*, SimpleFrameDnD*> mSimpleFrameDnDMap;
 
  std::multimap<dart::dynamics::Shape*, SimpleFrameShapeDnD*>
      mSimpleFrameShapeDnDMap;
 
  std::map<InteractiveFrame*, InteractiveFrameDnD*> mInteractiveFrameDnDMap;
 
  std::map<dart::dynamics::BodyNode*, BodyNodeDnD*> mBodyNodeDnDMap;
 
private:
  ::osg::ref_ptr<detail::CameraModeCallback> mCameraModeCallback;
};
 
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
} // namespace osg
} // namespace gui
} // namespace dart
 
#endif // DART_GUI_OSG_VIEWER_HPP_