CGraphicsChai.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.

Alternatively, you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of
the License, or (at your option) any later version.

scl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
*/
/* \file CGraphicsChai.hpp
 *
 *  Created on: Aug 26, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */
#ifndef CGRAPHICSCHAI_HPP_
#define CGRAPHICSCHAI_HPP_

#include <scl/DataTypes.hpp>
#include <scl/data_structs/SRobotParsed.hpp>

#include <scl/data_structs/SGraphicsParsed.hpp>
#include <scl/graphics/chai/data_structs/SGraphicsChai.hpp>
#include <scl/graphics/CGraphicsBase.hpp>

#include <string>

namespace scl {

class CGraphicsChai : public CGraphicsBase
{
public:
  /********************************************************
   *   Initialization Functions: Sets up a scenegraph, camera
   *   etc..
   *********************************************************/
  virtual sBool initGraphics(
      const SGraphicsParsed* arg_gr_ds)
  {
    SGraphicsChai *tmp = new SGraphicsChai();
    bool flag = initGraphics(arg_gr_ds,tmp);
    if(flag){ data_is_mine_ = true; }
    else{ delete tmp; }
    return flag;
  }

  virtual sBool initGraphics(
      const SGraphicsParsed* arg_gr_ds,
      SGraphicsChai* arg_chai_ds);

  virtual sBool addRobotToRender(
      const SRobotParsed *arg_rob_parsed,
      const SRobotIO* arg_rob_io);

  virtual sBool removeRobotFromRender(const std::string& arg_robot);

  sBool addRobotLink(SGraphicsChaiRigidBody* arg_robot_link);

  virtual sBool addMeshToRender(const std::string& arg_mesh_name,
      const std::string& arg_mesh_file, const Eigen::Vector3d& arg_pos,
      const Eigen::Matrix3d& arg_rot);

  virtual sBool addMeshToParentInRender(const std::string& arg_mesh_name,
      const std::string& arg_parent_name,
      const std::string& arg_mesh_file, const Eigen::Vector3d& arg_pos,
      const Eigen::Matrix3d& arg_rot);

  virtual sBool removeMeshFromRender(const std::string& arg_mesh_name);

  sBool scaleMesh(const std::string& arg_mesh_name,
      sFloat arg_x, sFloat arg_y, sFloat arg_z);

  virtual sBool addMusclesToRender(
      const std::string& arg_robot,
      const SActuatorSetMuscleParsed& arg_mset,
      const sBool add_musc_via_points);

  virtual sBool removeMusclesFromRender(
      const std::string& arg_robot,
      const std::string& arg_mset)
  { return false; }

  sBool addSphereToRender(
      const std::string& arg_robot,
      const std::string& arg_link,
      const Eigen::Vector3d& arg_pos,
      const sFloat arg_size=0.01,
      chai3d::cGenericObject** arg_ret_ptr=S_NULL);

  sBool addSphereToRender(
      const Eigen::Vector3d& arg_pos,
      chai3d::cGenericObject*& arg_ret_ptr,
      const sFloat arg_size=0.01);

  sBool addBeltedEllipsoidToRender(
      const Eigen::Vector3d& arg_pos,
      chai3d::cGenericObject*& arg_ret_ptr,
      const sFloat arg_size=0.01);

  virtual sBool destroyGraphics();

  /********************************************************
   *   Convenience Functions: Will call other functions to
   *   do the real work
   *********************************************************/
  virtual sBool updateGraphics();

  virtual sBool updateGraphicsForRobots();

  virtual sBool updateGraphicsForMeshes(){return true;}

  virtual sBool updateGraphicsForMuscles();

  CGraphicsChai() : CGraphicsBase(),data_(NULL),
      data_is_mine_(false), data_parsed_(S_NULL){}

  virtual ~CGraphicsChai(){}

  SGraphicsChai* getChaiData()
  { return data_; }

  const SGraphicsParsed* getParsedData()
  { return data_parsed_;  }

protected:
  SGraphicsChai* data_;
  bool data_is_mine_;
  const SGraphicsParsed* data_parsed_;
};

}

#endif /* CGRAPHICS_HPP_ */