src/Mod/Robot/Gui/ViewProviderRobotObject.h

// SPDX-License-Identifier: LGPL-2.1-or-later

/***************************************************************************
 *   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