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/*
 * Copyright (c) 2014, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author: Pete Vieira <pete.vieira@gatech.edu>
 * Date: Feb 2014
 *
 * Humanoid skeletonics Lab      Georgia Institute of Technology
 * Director: Mike Stilman     http://www.golems.org
 *
 *
 * This file is provided under the following "BSD-style" License:
 *   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 Humanoid Robotics Lab 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
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 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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 */

#ifndef WORLD_VISUALS_H
#define WORLD_VISUALS_H

// Local includes
#include "../osgGolems/Line.h"

// OpenSceneGraph includes
#include <osg/MatrixTransform>

// Eigen includes
#include <Eigen/Core>
#include <Eigen/Dense>

namespace osgDart {

class ContactForceVisual : public osg::MatrixTransform
{
public:
    ContactForceVisual(bool debug=false);

    ~ContactForceVisual();

    void createForceVector(float lineLength,
                           const Eigen::Vector3d &contactPoint,
                           const Eigen::Vector3d &contactForce);

    void update(float lineLength, const Eigen::Vector3d &contactPoint,
                const Eigen::Vector3d &contactForce);

protected:
    osg::Matrix _convertVectorToOsgTF(const Eigen::Vector3d &point, const Eigen::Vector3d &vector);

    osgGolems::Line* _contactForceLine;

    bool _debug;

}; // end class ContactForceVisual

} // end namespace osgDart

#endif // WORLD_VISUALS_H