selection_handler.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * 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.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * 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 OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

#ifndef RVIZ_SELECTION_HANDLER_H
#define RVIZ_SELECTION_HANDLER_H

#include "forwards.h"
#include "selection_handler.h"
#include "rviz/properties/forwards.h"
#include "rviz/viewport_mouse_event.h"
#include "rviz/interactive_object.h"

#include <boost/shared_ptr.hpp>
#include <boost/unordered_map.hpp>

#include <OGRE/OgreMovableObject.h>

#include <vector>
#include <set>

namespace Ogre
{
class WireBoundingBox;
class SceneNode;
class MovableObject;
}

namespace rviz
{

class ViewportMouseEvent;
class VisualizationManager;
class PropertyManager;

typedef std::vector<Ogre::AxisAlignedBox> V_AABB;



class SelectionHandler
{
public:
  typedef std::vector<PropertyBaseWPtr> V_Property;

  SelectionHandler();
  virtual ~SelectionHandler();

  void initialize(VisualizationManager* manager);
  void addTrackedObject(Ogre::MovableObject* object);
  void removeTrackedObject(Ogre::MovableObject* object);

  virtual void updateTrackedBoxes();

  virtual void createProperties(const Picked& obj, PropertyManager* property_manager) {}
  virtual void destroyProperties(const Picked& obj, PropertyManager* property_manager);
  virtual void updateProperties();

  virtual bool needsAdditionalRenderPass(uint32_t pass)
  {
    return false;
  }

  virtual void preRenderPass(uint32_t pass);
  virtual void postRenderPass(uint32_t pass);

  virtual void getAABBs(const Picked& obj, V_AABB& aabbs);

  virtual void onSelect(const Picked& obj);
  virtual void onDeselect(const Picked& obj);

  virtual void setInteractiveObject( InteractiveObjectWPtr object );

  virtual InteractiveObjectWPtr getInteractiveObject();

protected:
  void createBox(const std::pair<CollObjectHandle, uint64_t>& handles, const Ogre::AxisAlignedBox& aabb, const std::string& material_name);
  void destroyBox(const std::pair<CollObjectHandle, uint64_t>& handles);

  V_Property properties_;

  typedef std::map<std::pair<CollObjectHandle, uint64_t>, std::pair<Ogre::SceneNode*, Ogre::WireBoundingBox*> > M_HandleToBox;
  M_HandleToBox boxes_;

  VisualizationManager* manager_;

  typedef std::set<Ogre::MovableObject*> S_Movable;
  S_Movable tracked_objects_;

  class Listener : public Ogre::MovableObject::Listener
  {
  public:
    Listener(SelectionHandler* handler)
    : handler_(handler)
    {}
    virtual void objectMoved(Ogre::MovableObject* object)
    {
      handler_->updateTrackedBoxes();
    }

    virtual void objectDestroyed(Ogre::MovableObject* object)
    {
      handler_->removeTrackedObject(object);
    }

    SelectionHandler* handler_;
  };
  typedef boost::shared_ptr<Listener> ListenerPtr;
  ListenerPtr listener_;

  InteractiveObjectWPtr interactive_object_;

  friend class SelectionManager;
};

typedef boost::shared_ptr<SelectionHandler> SelectionHandlerPtr;
typedef std::vector<SelectionHandlerPtr> V_SelectionHandler;
typedef std::set<SelectionHandlerPtr> S_SelectionHandler;

}

#endif