source: osgVisual/trunk/src/object/visual_object.cpp @ 317

/* -*-c++-*- osgVisual - Copyright (C) 2009-2011 Torben Dannhauer
 *
 * This library is based on OpenSceneGraph, open source and may be redistributed and/or modified under 
 * the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
 * (at your option) any later version.  The full license is in LICENSE file
 * included with this distribution, and on the openscenegraph.org website.
 *
 * osgVisual requires for some proprietary modules a license from the correspondig manufacturer.
 * You have to aquire licenses for all used proprietary modules.
 * 
 * This library 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.  See the
 * OpenSceneGraph Public License for more details.
*/

#include <visual_object.h>

using namespace osgVisual;

visual_object::visual_object( osg::CoordinateSystemNode* sceneRoot_, std::string nodeName_)
{
        // Add this node to Scenegraph
        sceneRoot_->addChild( this );

        // Set Nodename for further identification
        this->setName( nodeName_ );

        // Set callback.
        /** \todo: welcher update ist der richtige? voraussichtlich event.) */
        //this->setUpdateCallback( new visual_objectPositionCallback() );
        this->setEventCallback( new visual_objectPositionCallback() );

        // Init Position and Attitude
        lat = 0;
        lon = 0;
        alt = 0;

        azimuthAngle_psi = 0;
        pitchAngle_theta = 0;
        bankAngle_phi = 0;

        geometry_offset_rotation.makeRotate( 0.0, 1.0, 1.0, 1.0 );

        // Init Scale factor
        scaleX = 1.0;
        scaleY = 1.0;
        scaleZ = 1.0;

        // Init cameraOffset 
        cameraTranslationOffset.makeTranslate( osg::Vec3d(0.0, 0.0, 0.0) );     // Trans: (y, x, -z_down)
        cameraRotationOffset.makeRotate( osg::DegreesToRadians( 90.0 ), osg::Vec3(1, 0, 0) );   // Rot: (-y, +x , -z)

        //setCameraOffsetTranslation(0.0, -150.0, 50.0);        // Trans: (rechts davon, longitudinal, vertikal)
        setCameraOffsetTranslation( 150.0, 0.0, 30.0);
        setCameraOffsetRotation( osg::DegreesToRadians(0.0), osg::DegreesToRadians(-15.0), osg::DegreesToRadians(-90.0) );

        // Geometrynode hinzufügen
        geometry = new osg::Group();
        this->addChild( geometry );
        unsetGeometry();        // adds an osg::Node as geometry to make the visual_object trackable for node trackers.

        // Tracking ID
        trackingId = -1;

        // Labelnode hinzufügen
        labels = new osg::Geode();
        this->addChild( labels ); 
}

visual_object::~visual_object()
{

}

visual_object* visual_object::createNodeFromXMLConfig(osg::CoordinateSystemNode* sceneRoot_, xmlNode* a_node)
{
        if(a_node == NULL)
                return NULL;

        OSG_NOTIFY( osg::ALWAYS ) << __FUNCTION__ << " - Try to creating a new Model.." << std::endl;
        
        // Prepare Variables
        std::string objectname="", filename="", label="";
        bool dynamic = false;
        int trackingID=-1;
        double lat=0.0, lon=0.0, alt=0.0, rot_x=0.0, rot_y=0.0, rot_z=0.0;
        double cam_trans_x=0.0, cam_trans_y=0.0, cam_trans_z=0.0, cam_rot_x=0.0, cam_rot_y=0.0, cam_rot_z=0.0;
        double geometry_rot_x=0.0, geometry_rot_y=0.0, geometry_rot_z=0.0;
        double geometry_scale_x=1.0, geometry_scale_y=1.0, geometry_scale_z=1.0;
        osg::ref_ptr<osgVisual::object_updater> updater = NULL;
        std::string updater_lat="", updater_lon="", updater_alt="", updater_rot_x="", updater_rot_y="", updater_rot_z="", updater_label="";

        // extract model properties
        xmlAttr  *attr = a_node->properties;
        while ( attr ) 
        { 
                std::string attr_name=reinterpret_cast<const char*>(attr->name);
                std::string attr_value=reinterpret_cast<const char*>(attr->children->content);
                if( attr_name == "objectname" ) objectname = attr_value;
                if( attr_name == "trackingid" ) trackingID = util::strToInt(attr_value);
                if( attr_name == "label" ) label = attr_value;
                if( attr_name == "dynamic" ) dynamic = util::strToBool(attr_value);

                attr = attr->next; 
        }
        for (xmlNode *cur_node = a_node->children; cur_node; cur_node = cur_node->next)
        {
                std::string node_name=reinterpret_cast<const char*>(cur_node->name);

                if(cur_node->type == XML_ELEMENT_NODE && node_name == "position")
                {
                        xmlAttr  *attr = cur_node->properties;
                        while ( attr ) 
                        { 
                                std::string attr_name=reinterpret_cast<const char*>(attr->name);
                                std::string attr_value=reinterpret_cast<const char*>(attr->children->content);
                                if( attr_name == "lat" ) lat = osg::DegreesToRadians(util::strToDouble(attr_value));
                                if( attr_name == "lon" ) lon = osg::DegreesToRadians(util::strToDouble(attr_value));
                                if( attr_name == "alt" ) alt = util::strToDouble(attr_value);

                                attr = attr->next; 
                        }
                }

                if(cur_node->type == XML_ELEMENT_NODE && node_name == "attitude")
                {
                        xmlAttr  *attr = cur_node->properties;
                        while ( attr ) 
                        { 
                                std::string attr_name=reinterpret_cast<const char*>(attr->name);
                                std::string attr_value=reinterpret_cast<const char*>(attr->children->content);
                                if( attr_name == "rot_x" ) rot_x = osg::DegreesToRadians(util::strToDouble(attr_value));
                                if( attr_name == "rot_y" ) rot_y = osg::DegreesToRadians(util::strToDouble(attr_value));
                                if( attr_name == "rot_z" ) rot_z = osg::DegreesToRadians(util::strToDouble(attr_value));

                                attr = attr->next; 
                        }
                }

                if(cur_node->type == XML_ELEMENT_NODE && node_name == "updater")
                {
                        for (xmlNode *sub_cur_node = cur_node->children; sub_cur_node; sub_cur_node = sub_cur_node->next)
                        { 
                                std::string sub_node_name=reinterpret_cast<const char*>(sub_cur_node->name);
                                if(sub_cur_node->type == XML_ELEMENT_NODE && sub_node_name == "position")
                                {
                                        xmlAttr  *attr = sub_cur_node->properties;
                                        while ( attr ) 
                                        { 
                                                std::string attr_name=reinterpret_cast<const char*>(attr->name);
                                                std::string attr_value=reinterpret_cast<const char*>(attr->children->content);
                                                if( attr_name == "lat" )
                                                        updater_lat = attr_value;
                                                if( attr_name == "lon" )
                                                        updater_lon = attr_value;
                                                if( attr_name == "alt" ) 
                                                        updater_alt = attr_value;
                                                attr = attr->next; 
                                        }
                                }
                                if(sub_cur_node->type == XML_ELEMENT_NODE && sub_node_name == "attitude")
                                {
                                        xmlAttr  *attr = sub_cur_node->properties;
                                        while ( attr ) 
                                        { 
                                                std::string attr_name=reinterpret_cast<const char*>(attr->name);
                                                std::string attr_value=reinterpret_cast<const char*>(attr->children->content);
                                                if( attr_name == "rot_x" )
                                                        updater_rot_x = attr_value;
                                                if( attr_name == "rot_y" )
                                                        updater_rot_y = attr_value;
                                                if( attr_name == "rot_z" ) 
                                                        updater_rot_z = attr_value;
                                                attr = attr->next; 
                                        }
                                }
                                if(sub_cur_node->type == XML_ELEMENT_NODE && sub_node_name == "label")
                                {
                                        xmlAttr  *attr = sub_cur_node->properties;
                                        while ( attr ) 
                                        { 
                                                std::string attr_name=reinterpret_cast<const char*>(attr->name);
                                                std::string attr_value=reinterpret_cast<const char*>(attr->children->content);
                                                if( attr_name == "text" )
                                                        updater_label = attr_value;
                                                attr = attr->next; 
                                        }
                                }
                        }
                }

                if(cur_node->type == XML_ELEMENT_NODE && node_name == "cameraoffset")
                {
                        for (xmlNode *sub_cur_node = cur_node->children; sub_cur_node; sub_cur_node = sub_cur_node->next)
                        {
                                std::string sub_node_name=reinterpret_cast<const char*>(cur_node->children->name);
                                if(sub_cur_node->type == XML_ELEMENT_NODE && sub_node_name == "translation")
                                {
                                        xmlAttr  *attr = sub_cur_node->properties;
                                        while ( attr ) 
                                        { 
                                                std::string attr_name=reinterpret_cast<const char*>(attr->name);
                                                std::string attr_value=reinterpret_cast<const char*>(attr->children->content);
                                                if( attr_name == "trans_x" ) cam_trans_x = util::strToDouble(attr_value);
                                                if( attr_name == "trans_y" ) cam_trans_y = util::strToDouble(attr_value);
                                                if( attr_name == "trans_z" ) cam_trans_z = util::strToDouble(attr_value);

                                                attr = attr->next; 
                                        }
                                }
                                if(sub_cur_node->type == XML_ELEMENT_NODE && sub_node_name == "rotation")
                                {
                                        xmlAttr  *attr = sub_cur_node->properties;
                                        while ( attr ) 
                                        { 
                                                std::string attr_name=reinterpret_cast<const char*>(attr->name);
                                                std::string attr_value=reinterpret_cast<const char*>(attr->children->content);
                                                if( attr_name == "rot_x" ) cam_rot_x = osg::DegreesToRadians(util::strToDouble(attr_value));
                                                if( attr_name == "rot_y" ) cam_rot_y = osg::DegreesToRadians(util::strToDouble(attr_value));
                                                if( attr_name == "rot_z" ) cam_rot_z = osg::DegreesToRadians(util::strToDouble(attr_value));

                                                attr = attr->next; 
                                        }
                                }
                        }
                }

                if(cur_node->type == XML_ELEMENT_NODE && node_name == "geometry")
                {
                        // extract filename
                        xmlAttr  *attr = cur_node->properties;
                        while ( attr ) 
                        { 
                                std::string attr_name=reinterpret_cast<const char*>(attr->name);
                                std::string attr_value=reinterpret_cast<const char*>(attr->children->content);
                                if( attr_name == "filename" )
                                        filename = attr_value;
                                attr = attr->next; 
                        }

                        // Extract optional settings
                        for (xmlNode *sub_cur_node = cur_node->children; sub_cur_node; sub_cur_node = sub_cur_node->next)
                        {
                                std::string sub_node_name=reinterpret_cast<const char*>(sub_cur_node->name);
                                if(sub_cur_node->type == XML_ELEMENT_NODE && sub_node_name == "offset")
                                {
                                        xmlAttr  *attr = sub_cur_node->properties;
                                        while ( attr ) 
                                        { 
                                                std::string attr_name=reinterpret_cast<const char*>(attr->name);
                                                std::string attr_value=reinterpret_cast<const char*>(attr->children->content);
                                                if( attr_name == "rot_x" ) geometry_rot_x = osg::DegreesToRadians(util::strToDouble(attr_value));
                                                if( attr_name == "rot_y" ) geometry_rot_y = osg::DegreesToRadians(util::strToDouble(attr_value));
                                                if( attr_name == "rot_z" ) geometry_rot_z = osg::DegreesToRadians(util::strToDouble(attr_value));

                                                attr = attr->next; 
                                        }
                                }
                                if(sub_cur_node->type == XML_ELEMENT_NODE && sub_node_name == "scalefactor")
                                {
                                        xmlAttr  *attr = sub_cur_node->properties;
                                        while ( attr ) 
                                        { 
                                                std::string attr_name=reinterpret_cast<const char*>(attr->name);
                                                std::string attr_value=reinterpret_cast<const char*>(attr->children->content);
                                                if( attr_name == "scale_x" ) geometry_scale_x = util::strToDouble(attr_value);
                                                if( attr_name == "scale_y" ) geometry_scale_y = util::strToDouble(attr_value);
                                                if( attr_name == "scale_z" ) geometry_scale_z = util::strToDouble(attr_value);

                                                attr = attr->next; 
                                        }
                                }
                        }
                }
        }


        osgVisual::visual_object* object = new osgVisual::visual_object( sceneRoot_, objectname );
        object->lat = lat;
        object->lon = lon;
        object->alt = alt;
        object->azimuthAngle_psi = rot_x;
        object->pitchAngle_theta = rot_y;
        object->bankAngle_phi = rot_z;
        object->trackingId = trackingID;
        if(label!="")
                object->addLabel("default", label);
        if(dynamic)
        {
                updater = new osgVisual::object_updater(object);
                object->addUpdater( updater );
        }
        object->setCameraOffset( cam_trans_x, cam_trans_y, cam_trans_z, cam_rot_x, cam_rot_y, cam_rot_z);
        if(filename!="")
        {
                object->loadGeometry( filename );
                object->setGeometryOffset( geometry_rot_x, geometry_rot_y, geometry_rot_z );
                object->setScale( geometry_scale_x, geometry_scale_y, geometry_scale_z ); 
        }

        if(updater.valid())
        {
                updater->setUpdaterSlotNames( object, updater_lat, updater_lon, updater_alt, updater_rot_x, updater_rot_y, updater_rot_z, updater_label);
        }

        OSG_NOTIFY( osg::ALWAYS ) << "Done." << std::endl;
        return object;
}

osg::Node* visual_object::findNodeByTrackingID(int trackingID, osg::Node* currNode_)
{
        osg::Group* currGroup;
   osg::Node* foundNode;

   // check to see if we have a valid (non-NULL) node.
   // if we do have a null node, return NULL.
   if ( !currNode_)
   {
      return NULL;
   }

   // We have a valid node, check to see if this is the node we 
   // are looking for. If so, return the current node.
        osgVisual::visual_object* tmp = dynamic_cast<osgVisual::visual_object*>(currNode_);
        if(tmp && tmp->getTrackingId()==trackingID)
                return currNode_;
   

   // We have a valid node, but not the one we are looking for.
   // Check to see if it has children (non-leaf node). If the node
   // has children, check each of the child nodes by recursive call.
   // If one of the recursive calls returns a non-null value we have
   // found the correct node, so return this node.
   // If we check all of the children and have not found the node,
   // return NULL
   currGroup = currNode_->asGroup(); // returns NULL if not a group.
   if ( currGroup ) 
   {
      for (unsigned int i = 0 ; i < currGroup->getNumChildren(); i ++)
      { 
         foundNode = findNodeByTrackingID( trackingID, currGroup->getChild(i));
         if (foundNode)
                 {
                         std::cout << "Node gefunden in Ebene: " << i << std::endl;
            return foundNode; // found a match!
                }
      }
      return NULL; // We have checked each child node - no match found.
   }
   else 
      return NULL; // leaf node, no match 
}

void visual_object::setNewPositionAttitude( double lat_, double lon_, double alt_, double azimuthAngle_psi_, double pitchAngle_theta_, double bankAngle_phi_ )
{
        lat = lat_;
        lon = lon_;
        alt = alt_;

        azimuthAngle_psi = azimuthAngle_psi_;
        pitchAngle_theta = pitchAngle_theta_;
        bankAngle_phi = bankAngle_phi_;
}

void visual_object::setNewPosition( double lat_, double lon_, double alt_ )
{
        lat = lat_;
        lon = lon_;
        alt = alt_;
}

void visual_object::setNewAttitude( double azimuthAngle_psi_, double pitchAngle_theta_, double bankAngle_phi_ )
{
        azimuthAngle_psi = azimuthAngle_psi_;
        pitchAngle_theta = pitchAngle_theta_;
        bankAngle_phi = bankAngle_phi_;
}

void visual_object::setGeometryOffset( double rotX_, double rotY_, double rotZ_ )
{
        geometry_offset_rotation.makeRotate( rotX_, osg::Vec3f(1.0, 0.0, 0.0), 
                                                rotY_, osg::Vec3f(0.0, 1.0, 0.0),
                                                rotZ_, osg::Vec3f(0.0, 0.0, 1.0) );
}

void visual_object::setScale( double scale_ )
{
        scaleX = scale_;
        scaleY = scale_;
        scaleZ = scale_;
}

void visual_object::setScale( double scaleX_, double scaleY_, double scaleZ_ )
{
        scaleX = scaleX_;
        scaleY = scaleY_;
        scaleZ = scaleZ_;
}

bool visual_object::loadGeometry(std::string filename_)
{
        // Check if file exists
        if( !osgDB::fileExists(filename_) )
        {
                OSG_NOTIFY(osg::FATAL) << "Error: Model not loaded. File '" << filename_ << "' does not exist." << std::endl;
        }

        osg::ref_ptr<osg::Node> tmpModel = osgDB::readNodeFile( filename_ );
        
        if( tmpModel.valid() )
        {
                // remove old geometry
                geometry->removeChildren(0, geometry->getNumChildren());

                // add new geometry
                geometry->addChild( tmpModel.get() );
                return true;
        }
        else
        {
                std::cout <<": No model loaded: " << filename_ << std::endl;
        return false;
    }
}

bool visual_object::setGeometry(osg::Node* geometry_)
{
        // remove old geometry
        geometry->removeChildren(0, geometry->getNumChildren());

        // add new geometry
        geometry->addChild( geometry_ );

        return true;
}

void visual_object::unsetGeometry()
{
        // remove old geometry
        geometry->removeChildren(0, geometry->getNumChildren());

        // Set std OSG Node to allow tracking of an osgVisual without
        geometry->addChild( new osg::Node() ); 
}

void visual_object::addUpdater( object_updater* updater_ )
{
        if ( updater.valid() )
                updater->addUpdater( updater_ );
        else
                updater = updater_;
}

void visual_object::clearAllUpdater()
{
        // release only first updater. Because smartpointer: Will be deleted if not referenced.
        if ( updater.valid() )
                updater = NULL;
}

std::vector<object_updater*> visual_object::getUpdaterList()
{
        // iterate through updater and add all pointer.
        std::vector<object_updater*> updaterList;
        osg::ref_ptr<object_updater> tmpUpdater = updater;

        while (tmpUpdater.valid())
        {
                updaterList.push_back( tmpUpdater );
                tmpUpdater = tmpUpdater->getPointer();
        }

        // return list
        return updaterList;
}

void visual_object::visual_objectPositionCallback::operator()(osg::Node* node, osg::NodeVisitor* nv)
{
        visual_object* object = dynamic_cast<visual_object*>(node);
        if ( !object )
        {
                OSG_NOTIFY(osg::FATAL) << "ERROR : No object found. Unable to apply this callback!" << std::endl;
                return;
        }

        // execute preUpdater to get new data of this object.
        if ( object->updater.valid() )
                object->updater->preUpdate(object);
    
        // Nodepath from this node to absolute parent (if no endnode specified)
        osg::NodePath nodePath = nv->getNodePath();

        // If Nodepath != empty, then mt = last element of node path
        osg::MatrixTransform* mt = nodePath.empty() ? 0 : dynamic_cast<osg::MatrixTransform*>(nodePath.back());
        if (mt)
        {
                osg::CoordinateSystemNode* csn = 0;

                // find coordinate system node from our parental chain: traverse chain and try to convert every node to a csn.
                unsigned int i;
                for(i=0; i<nodePath.size() && csn==0; ++i)      // "&& csn" means: exit loop if csn found
                {
                        csn = dynamic_cast<osg::CoordinateSystemNode*>(nodePath[i]);    // dynamic_cast returns 0 if dynamic_cast fails.
                }
        
                // Wenn csn gefunden:
                if (csn)
                {
                        // Ellipsoidmodel erfragen
                        osg::EllipsoidModel* ellipsoid = csn->getEllipsoidModel();
                        if (ellipsoid)
                        {
                                osg::Matrix inheritedMatrix;

                                // durch den _restlichen_ Nodepath durchgehen und alle anfallenden Transformationen durchführen.
                                for(i+=1; i<nodePath.size()-1; ++i)
                                {
                                        osg::Transform* transform = nodePath[i]->asTransform(); // Versuchen, den Node zu einer Transformation zu konvertieren
                    
                                        // wenn Node wirklich Trafo, dann die Tranformationsmatrix von Nodekoordinaten nach Global auf inheritedMatrix draufschlagen.
                                        if (transform) transform->computeLocalToWorldMatrix(inheritedMatrix, nv);
                                }
                
                                osg::Matrixd matrix(inheritedMatrix);

                                // Set position
                                ellipsoid->computeLocalToWorldTransformFromLatLongHeight(object->lat, object->lon, object->alt, matrix);

                                // Set Upvector for position
                                double X,Y,Z;
                                util::calculateXYZAtWGS84Coordinate(object->lat, object->lon, object->alt, csn, X, Y, Z );
                                object->upVector = ellipsoid->computeLocalUpVector(X,Y,Z);

                                // Set scale
                                osg::Matrixd scaleMatrix;
                                scaleMatrix.makeScale( object->scaleX, object->scaleY, object->scaleZ );
                                matrix.preMult( scaleMatrix );

                                // Set rotation
                                // rotation von links ranmultiplizieren, entspricht: matrix = rotation * matrix. Da rotation ein Quat ist, wäre die direkte Multiplikation nur über Umwege machbar.
                                // Rotate Object to Attitude.
                                osg::Matrixd rotationMatrix;
                                // Move Model by Azimuth
                                rotationMatrix.makeRotate( -object->azimuthAngle_psi, osg::Vec3d(0.0, 0.0, 1.0) );
                                matrix.preMult(rotationMatrix); 
                                // Move Model by Pitch
                                rotationMatrix.makeRotate( object->pitchAngle_theta, osg::Vec3d(1.0, 0.0, 0.0) );
                                matrix.preMult(rotationMatrix);
                                // Move Model by Bank
                                rotationMatrix.makeRotate( object->bankAngle_phi, osg::Vec3d(0.0, 1.0, 0.0) );
                                matrix.preMult(rotationMatrix);

                                // Also update camera matrix (without geometry offset, because camera is interested in the objects matrix, not in the model's matrix.)
                                object->cameraMatrix = matrix;
                                /** \todo : Clean up camera matrix management: try to solve it with a single matrix. (each frame two matrix mults less) */
                                // dont know, why this rotation is necessary - maybe manipulator and node MatrixTransform interpret a matrix in different way?
                                object->cameraMatrix.preMult( object->cameraTranslationOffset );
                                object->cameraMatrix.preMult( object->cameraRotationOffset );
                                                        

                                // Set geometry correction
                                matrix.preMultRotate( object->geometry_offset_rotation );

                                // Set cumulated object matrix as the matrix of this matrix transform
                                mt->setMatrix(matrix);
                        }
                }        
        }
      
        // Call any nested callbacks.
        traverse(node,nv);

        // If SLAVE: execute postUpdater to pass new data of this object to dataIO.
        if( visual_dataIO::getInstance()->isSlave() )
        {
                if ( object->updater.valid() )
                        object->updater->postUpdate(object);
        }

}   // Callbackfunction [ Operater() ] END

void visual_object::setCameraOffsetTranslation( double x_, double y_, double z_)
{
        cameraTranslationOffset.makeTranslate( osg::Vec3d(x_, y_, z_) );        // Trans: (rechts davon, longitudinal, vertikal)
}

void visual_object::setCameraOffset(double x_, double y_, double z_, double rotX_, double rotY_, double rotZ_)
{
        setCameraOffsetTranslation( x_, y_, z_);
        setCameraOffsetRotation( rotX_, rotY_, rotZ_);
}

void visual_object::setCameraOffsetRotation(double rotX_, double rotY_, double rotZ_)
{
        osg::Matrix tmp;
        cameraRotationOffset.makeRotate( osg::DegreesToRadians( 90.0 ), osg::Vec3(1, 0, 0) );
        tmp.makeRotate( -rotZ_, osg::Vec3d(0.0, 1.0, 0.0) );
        cameraRotationOffset.preMult(tmp);
        tmp.makeRotate( rotY_, osg::Vec3d(1.0, 0.0, 0.0) );     
        cameraRotationOffset.preMult(tmp);
        tmp.makeRotate( -rotX_, osg::Vec3d(0.0, 0.0, 1.0) );    
        cameraRotationOffset.preMult(tmp);
}

void visual_object::clearLabels()
{
        labels->removeDrawables(0, labels->getNumDrawables());
}

void visual_object::addLabel(std::string idString_, std::string label_, osg::Vec4 color_, osg::Vec3 offset_)
{
        osg::ref_ptr<osgText::Text> text = new osgText::Text();

        text->setName(idString_);
        text->setText(label_);
        text->setColor(color_);
        text->setFont("fonts/arial.ttf");
        text->setCharacterSizeMode(osgText::Text::OBJECT_COORDS_WITH_MAXIMUM_SCREEN_SIZE_CAPPED_BY_FONT_HEIGHT);
        text->setAutoRotateToScreen(true);
        text->setPosition(offset_);

        text->getOrCreateStateSet()->setMode(GL_DEPTH_TEST,osg::StateAttribute::OFF);
        labels->addDrawable( text );
}

bool visual_object::removeLabel(std::string idString_)
{
        osg::Node* labelToRemove = util::findNamedNode(idString_, this);

        if(labelToRemove)
        {
                removeChild( labelToRemove );
                return true;
        }
        else
                return false;
}

bool visual_object::updateLabelText(std::string idString_, std::string label_)
{
        osg::Node* labelToUpdate = util::findNamedNode(idString_, this);

        if(labelToUpdate)
        {
                osgText::Text* text = dynamic_cast<osgText::Text*>(labelToUpdate);
                if(text)
                {
                        text->setText(label_);
                        return true;
                }
                return false;
        }
        return false;
}

osgText::Text* visual_object::getLabel(std::string idString_)
{
        osg::Node* labelToFind = util::findNamedNode(idString_, this);

        if(labelToFind)
        {
                osgText::Text* text = dynamic_cast<osgText::Text*>(labelToFind);
                if(text)
                        return text;
        }
        return NULL;

}

bool visual_object::setDrawLabelAsOverlay(std::string idString_, bool drawAsOverlay)
{
        osg::Node* labelToFind = util::findNamedNode(idString_, this);

        if(labelToFind)
        {
                if (drawAsOverlay)
                        labelToFind->getOrCreateStateSet()->setMode(GL_DEPTH_TEST,osg::StateAttribute::OFF);
                else
                        labelToFind->getOrCreateStateSet()->setMode(GL_DEPTH_TEST,osg::StateAttribute::ON);
                return true;
        }
        else 
                return false;
}

bool visual_object::getDrawLabelAsOverlay(std::string idString_)
{
        osg::Node* labelToFind = util::findNamedNode(idString_, this);

        if(labelToFind)
        {
                if(labelToFind->getOrCreateStateSet()->getMode(GL_DEPTH_TEST) == osg::StateAttribute::OFF)
                        return false;
                else 
                        return true;
        }
        return false;
}