DtOsgArticulatedModel.h

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/*****************************************************************************
 * Copyright (c) 2012 MAK Technologies, Inc.
 * All rights reserved.
 *****************************************************************************/


#pragma once

#include <vrvOsg/vrvOsg.h>

#include <vrvCore/DtArticulatedModel.h>

#include <boost/unordered_map.hpp>

#include <matrix/vlTaitBryan.h>
#include <matrix/vlVector.h>

#include <osg/ref_ptr>

namespace osg
{
   class Matrixd;
   class Sequence;
   class Node;
}

namespace osgSim
{
   class DOFTransform;
   class MultiSwitch;
}

namespace makVrv 
{

   class DtOsgSceneConnector;

   class DT_DLL_VRVOSG DtOsgArticulatedModel : public DtArticulatedModel
   {
   public:

      typedef std::vector<osg::Node*> NodeList;
      typedef boost::unordered_map<int, NodeList> NodePathCache;

      typedef std::vector<osg::ref_ptr<osgSim::DOFTransform> > PartTransformList;
      typedef boost::unordered_map<int, PartTransformList > PartMap;

      typedef std::vector< osg::ref_ptr<osgSim::MultiSwitch> > StateList;
      typedef boost::unordered_map<int, StateList > StateMap;

      typedef std::vector< osg::ref_ptr<osg::Sequence> > AnimationList;
      typedef boost::unordered_map<std::string, AnimationList > AnimationMap;

      DtOsgArticulatedModel(DtDe&, DtUniqueID id);

      virtual ~DtOsgArticulatedModel();


      virtual void setModelDefinition(const std::string& str);

      virtual std::string className() const;

      virtual void setModelScalingEnabled( bool b );

      virtual void setLocalModelScalingEnabled( bool enabled );

      virtual void setLocalModelScalingAmount( float localScl );

      virtual void setPosition( int vtx, const DtVector& position );
      virtual void setOrientation( int vtx, const DtTaitBryan& orientation );

      virtual void setVisible(bool isVisible);


      virtual void setPartTranslation(int partNumber, 
         const DtVector& transform, const DtVector& velocity);

      virtual void setPartOrientation(int partNumber, 
         const DtTaitBryan& orientation, const DtVector& rotationalVelocity);

      virtual void setState(int stateNumber, int stateValue);

      virtual void setAnimationFrame(const std::string& animationName, 
         int frameIndex);

      virtual void setAnimationRange(const std::string& animationName, 
         int firstFrameIndex, int lastFrameIndex);

      virtual void setAnimationSpeed(const std::string& animationName, 
         double framesPerSecond);


      //@name Non-distributed functions

      virtual bool findPartPositionAndOrientation(int partNumber, 
         DtVector& position, DtQuat& ori);

      DtVector partTranslation(int partNumber);

      DtTaitBryan partOrientation(int partNumber);

      int state(int stateNumber);

      int animationFrameCount(const std::string& animationName);

      int animationCurrentFrame(const std::string& animationName);

      int animationFirstFrame(const std::string& animationName);

      int animationLastFrame(const std::string& animationName);

      double animationSpeed(const std::string& animationName);

      const PartMap& parts() const;

      virtual void getParts(PartList& parts) const;

      const StateMap& states() const;

      const AnimationMap& animations() const;      

      virtual void addPart(int partNumber,osgSim::DOFTransform* node);

      virtual void addState(int stateNumber,osgSim::MultiSwitch* node);

      virtual void setStateValueExists(int stateNumber, int stateValue);

      virtual void addAnimation(const std::string& animationName,
         osg::Sequence* node);

      virtual void setColor(float r, float g, float b, float a);
      
      virtual void setPartVisibility(int partNumber, bool onOff);

      virtual void setSolid(bool isSolid);


   protected:

      virtual void addToScene( const DtUniqueID& sceneObjectId, int modelSet,
         int visualizerType );
      virtual void removeFromScene();

      virtual void disablePart(int partNumber);
      virtual void enablePart(int partNumber);

      virtual void modelInstanceToBeDeleted();
      virtual void modelInstanceCreated(bool castShadows);

      static void matrixdToTaitBryan( const osg::Matrixd& rotation, DtTaitBryan& tb );
      static double clampUnity( double x );
      
   protected:

      typedef std::vector<bool> StateExistenceList;
      typedef boost::unordered_map<int, StateExistenceList> StateExistenceMap;
      StateExistenceMap myStateExistenceMap;

      DtOsgSceneConnector* mySceneConnector;
      PartMap myPartMap;
      StateMap myStateMap;
      AnimationMap myAnimationMap;
      NodePathCache myNodePathCache;
      static const unsigned int theNodePathCacheSize = 4;
      bool myUseSwitch;
   }; 
}