/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * Copyright (c) 2018, Bosch Software Innovations GmbH.
 * All rights reserved.
 *
 * 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 Willow Garage, Inc. 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 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__POSE_ARRAY__FLAT_ARROWS_ARRAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POSE_ARRAY__FLAT_ARROWS_ARRAY_HPP_

#include <vector>

#include <OgreManualObject.h>
#include <OgreMaterialManager.h>
#include <OgreSceneNode.h>
#include <OgreVector3.h>
#include <OgreQuaternion.h>

#include "rviz_default_plugins/displays/pose_array/pose_array_display.hpp"
#include "rviz_default_plugins/visibility_control.hpp"

namespace rviz_default_plugins
{
namespace displays
{
struct OgrePose;

class RVIZ_DEFAULT_PLUGINS_PUBLIC FlatArrowsArray
{
public:
  explicit FlatArrowsArray(Ogre::SceneManager * scene_manager_);
  ~FlatArrowsArray();

  void createAndAttachManualObject(Ogre::SceneNode * scene_node);
  void updateManualObject(
    Ogre::ColourValue color,
    float alpha,
    float length,
    const std::vector<rviz_default_plugins::displays::OgrePose> & poses);
  void clear();

private:
  void setManualObjectMaterial();
  void setManualObjectVertices(
    const Ogre::ColourValue & color,
    float length,
    const std::vector<rviz_default_plugins::displays::OgrePose> & poses);

  Ogre::SceneManager * scene_manager_;
  Ogre::ManualObject * manual_object_;
  Ogre::MaterialPtr material_;
};

}  // namespace displays
}  // namespace rviz_default_plugins

#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POSE_ARRAY__FLAT_ARROWS_ARRAY_HPP_
