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/***************************************************************************
* Copyright (c) 2008 Jürgen Riegel <juergen.riegel@web.de> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library 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 Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#ifndef ROBOT_VIEWPROVIDERROBOTOBJECT_H
#define ROBOT_VIEWPROVIDERROBOTOBJECT_H
#include <Base/Placement.h>
#include <Gui/Selection/SoFCSelection.h>
#include <Gui/ViewProviderGeometryObject.h>
#include <Inventor/VRMLnodes/SoVRMLTransform.h>
#include <Mod/Robot/RobotGlobal.h>
class SoDragger;
class SoJackDragger;
class SoTrackballDragger;
namespace RobotGui
{
class RobotGuiExport ViewProviderRobotObject: public Gui::ViewProviderGeometryObject
{
PROPERTY_HEADER_WITH_OVERRIDE(RobotGui::ViewProviderRobotObject);
public:
/// constructor.
ViewProviderRobotObject();
/// destructor.
~ViewProviderRobotObject() override;
App::PropertyBool Manipulator;
void attach(App::DocumentObject* pcObject) override;
void setDisplayMode(const char* ModeName) override;
std::vector<std::string> getDisplayModes() const override;
void updateData(const App::Property*) override;
void onChanged(const App::Property* prop) override;
/// for simulation without changing the document:
void setAxisTo(float A1, float A2, float A3, float A4, float A5, float A6, const Base::Placement& Tcp);
protected:
static void sDraggerMotionCallback(void* data, SoDragger* dragger);
void DraggerMotionCallback(SoDragger* dragger);
void setDragger();
void resetDragger();
Gui::SoFCSelection* pcRobotRoot;
Gui::SoFCSelection* pcSimpleRoot;
SoGroup* pcOffRoot;
SoGroup* pcTcpRoot;
// SoTransform * pcTcpTransform;
// SoTrackballDragger * pcDragger;
SoJackDragger* pcDragger {nullptr};
// view provider of the toolshape if set
Gui::ViewProvider* toolShape {nullptr};
// Pointers to the robot axis nodes in the VRML model
SoVRMLTransform* Axis1Node;
SoVRMLTransform* Axis2Node;
SoVRMLTransform* Axis3Node;
SoVRMLTransform* Axis4Node;
SoVRMLTransform* Axis5Node;
SoVRMLTransform* Axis6Node;
};
} // namespace RobotGui
#endif // ROBOT_VIEWPROVIDERROBOTOBJECT_H
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