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/**
* @file
* @author 2012-2013 Stefan Radomski (stefan.radomski@cs.tu-darmstadt.de)
* @copyright Simplified BSD
*
* @cond
* This program is free software: you can redistribute it and/or modify
* it under the terms of the FreeBSD license as published by the FreeBSD
* project.
*
* This program 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.
*
* You should have received a copy of the FreeBSD license along with this
* program. If not, see <http://www.opensource.org/licenses/bsd-license>.
* @endcond
*/
#ifndef OSGCONVERTER_H_W09J90F0
#define OSGCONVERTER_H_W09J90F0
#include <uscxml/Interpreter.h>
#include <osg/Node>
#include <osgViewer/ViewerEventHandlers>
#ifdef BUILD_AS_PLUGINS
#include "uscxml/plugins/Plugins.h"
#endif
namespace uscxml {
class OSGConverter : public InvokerImpl {
public:
OSGConverter();
virtual ~OSGConverter();
virtual boost::shared_ptr<InvokerImpl> create(InterpreterImpl* interpreter);
virtual std::list<std::string> getNames() {
std::list<std::string> names;
names.push_back("osgconverter");
names.push_back("osgconvert");
names.push_back("http://uscxml.tk.informatik.tu-darmstadt.de/#osgconverter");
names.push_back("http://uscxml.tk.informatik.tu-darmstadt.de/#osgconvert");
return names;
}
virtual Data getDataModelVariables();
virtual void send(const SendRequest& req);
virtual void cancel(const std::string sendId);
virtual void invoke(const InvokeRequest& req);
void reportSuccess(const SendRequest& req, const Data& content);
void reportFailure(const SendRequest& req);
osg::Matrix requestToModelPose(const SendRequest& req);
osg::Matrix requestToCamPose(const SendRequest& req);
static void dumpMatrix(const osg::Matrix& m);
static osg::Matrix eulerToMatrix(double pitch, double roll, double yaw);
static void matrixToEuler(const osg::Matrix& m, double& pitch, double& roll, double& yaw);
protected:
uscxml::concurrency::BlockingQueue<SendRequest> _workQueue;
osg::ref_ptr<osg::Node> setupGraph(const std::string filename, bool autoRotate = false);
osg::ref_ptr<osg::Node> getOrigin();
tthread::recursive_mutex _viewerMutex;
std::map<std::string, std::pair<long, osg::ref_ptr<osg::Node> > > _models;
tthread::recursive_mutex _cacheMutex;
std::set<tthread::thread*> _threads;
static void run(void*);
void process(const SendRequest& req);
bool _isRunning;
};
#ifdef BUILD_AS_PLUGINS
PLUMA_INHERIT_PROVIDER(OSGConverter, InvokerImpl);
#endif
}
#endif /* end of include guard: OSGCONVERTER_H_W09J90F0 */
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