cone.cpp

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/*
 * Copyright (c) 2010, 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
 * 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
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <rve_render_client/cone.h>
#include <rve_render_client/material.h>
#include <rve_render_client/scene.h>
#include <rve_msgs/make_vector3.h>

#include <rve_interfaces/Cone.h>

#include <boost/bind.hpp>

namespace rve_render_client
{

ConePtr createCone(Scene* scene)
{
  ConePtr inst(new Cone(), destroySceneObject);
  scene->addObject(inst.get());
  return inst;
}

Cone::Cone()
: radius_(1.0)
, height_(1.0)
{
  orientation_.w = 1.0;
  proxy_index_ = addProxy("cone");
}

Cone::~Cone()
{
}

rve_interfaces::ConeProxy* Cone::getProxy(const ContextInfo& context)
{
  return SceneObject::getProxy<rve_interfaces::ConeProxy>(context, proxy_index_);
}

void Cone::doCreate(ContextInfo& context)
{
  rve_interfaces::ConeProxy* proxy = getProxy(context);
  proxy->create(getSceneID(context.scene), getID());

  const rve_common::UUID& scene_id = getSceneID(context.scene);

  if (material_)
  {
    proxy->setMaterialAsync(scene_id, getID(), material_->getID());
  }

  proxy->setPositionAsync(scene_id, getID(), position_);
  proxy->setOrientationAsync(scene_id, getID(), orientation_);
  proxy->setRadiusAsync(scene_id, getID(), radius_);
  proxy->setHeightAsync(scene_id, getID(), height_);
}

void Cone::doDestroy(ContextInfo& context)
{
  rve_interfaces::ConeProxy* proxy = getProxy(context);
  proxy->destroy(getSceneID(context.scene), getID());
}

#define CONE_MULTIPLEX(func, ...) \
    multiplex<rve_interfaces::ConeProxy>(boost::bind(&rve_interfaces::ConeProxy::func, _1, _2, getID(), __VA_ARGS__), proxy_index_);

void Cone::setPosition(const rve_msgs::Vector3& pos)
{
  position_ = pos;
  CONE_MULTIPLEX(setPositionAsync, pos);
}

void Cone::setOrientation(const rve_msgs::Quaternion& orient)
{
  orientation_ = orient;
  CONE_MULTIPLEX(setOrientationAsync, orient);
}

void Cone::setRadius(float radius)
{
  radius_ = radius;
  CONE_MULTIPLEX(setRadiusAsync, radius);
}

void Cone::setHeight(float height)
{
  height_ = height;
  CONE_MULTIPLEX(setHeightAsync, height);
}

void Cone::setMaterial(const MaterialPtr& mat)
{
  material_ = mat;
  if (mat)
  {
    CONE_MULTIPLEX(setMaterialAsync, mat->getID());
  }
}

void Cone::getContextDependencies(V_UUID& deps)
{
  if (material_)
  {
    deps.push_back(material_->getID());
  }
}

} // namespace rviz_render_client