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