/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef _CONTACTVISUAL_HH_
#define _CONTACTVISUAL_HH_

#include <string>

#include "gazebo/msgs/MessageTypes.hh"
#include "gazebo/rendering/Visual.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {
    /// \addtogroup gazebo_rendering Rendering
    /// \{

    /// \class ContactVisual ContactVisual.hh rendering/rendering.hh
    /// \brief Contact visualization
    ///
    /// This class visualizes contact points by drawing arrows in the 3D
    /// environment.
    class GZ_RENDERING_VISIBLE ContactVisual : public Visual
    {
      /// \brief Constructor
      /// \param[in] _name Name of the ContactVisual
      /// \param[in] _vis Pointer the parent Visual
      /// \param[in] _topicName Name of the topic which publishes the contact
      /// information.
      public: ContactVisual(const std::string &_name, VisualPtr _vis,
                            const std::string &_topicName);

      /// \brief Destructor
      public: virtual ~ContactVisual();

      /// \brief Set to true to enable contact visualization.
      /// \param[in] _enabled True to show contacts, false to hide.
      public: void SetEnabled(bool _enabled);

      /// \brief Update the Visual
      private: void Update();

      /// \brief Callback when a Contact message is received
      /// \param[in] _msg The Contact message
      private: void OnContact(ConstContactsPtr &_msg);

      /// \brief Create a new contact visualization point.
      private: void CreateNewPoint();
    };
    /// \}
  }
}
#endif
