////  Grab.h//  libraries/avatars/src////  Created by Seth Alves on 2018-9-1.//  Copyright 2018 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #ifndef hifi_Grab_h#define hifi_Grab_h #include <QUuid>#include <QByteArray>#include "GLMHelpers.h"#include "StreamUtils.h" class Grab;using GrabPointer = std::shared_ptr<Grab>;using GrabWeakPointer = std::weak_ptr<Grab>; class GrabLocationAccumulator {public:    void accumulate(glm::vec3 position, glm::quat orientation) {        _position += position;        _orientation = orientation; // XXX        _count++;    }     glm::vec3 finalizePosition() { return _count > 0 ? _position * (1.0f / _count) : glm::vec3(0.0f); }    glm::quat finalizeOrientation() { return _orientation; } // XXX protected:    glm::vec3 _position;    glm::quat _orientation;    int _count { 0 };}; class Grab {public:    Grab() {};    Grab(const QUuid& newOwnerID, const QUuid& newTargetID, int newParentJointIndex, const QString& newHand,         glm::vec3 newPositionalOffset, glm::quat newRotationalOffset) :        _ownerID(newOwnerID),        _targetID(newTargetID),        _parentJointIndex(newParentJointIndex),        _hand(newHand),        _positionalOffset(newPositionalOffset),        _rotationalOffset(newRotationalOffset),        _released(false) {}     QByteArray toByteArray();    bool fromByteArray(const QByteArray& grabData);     Grab& operator=(const GrabPointer& other) {        _ownerID = other->_ownerID;        _targetID = other->_targetID;        _parentJointIndex = other->_parentJointIndex;        _hand = other->_hand;        _positionalOffset = other->_positionalOffset;        _rotationalOffset = other->_rotationalOffset;        _actionID = other->_actionID;        _released = other->_released;        return *this;    }     QUuid getActionID() const { return _actionID; }    void setActionID(const QUuid& actionID) { _actionID = actionID; }     QUuid getOwnerID() const { return _ownerID; }    void setOwnerID(QUuid ownerID) { _ownerID = ownerID; }     QUuid getTargetID() const { return _targetID; }    void setTargetID(QUuid targetID) { _targetID = targetID; }     int getParentJointIndex() const { return _parentJointIndex; }    void setParentJointIndex(int parentJointIndex) { _parentJointIndex = parentJointIndex; }     QString getHand() const { return _hand; }    void setHand(QString hand) { _hand = hand; }     glm::vec3 getPositionalOffset() const { return _positionalOffset; }    void setPositionalOffset(glm::vec3 positionalOffset) { _positionalOffset = positionalOffset; }     glm::quat getRotationalOffset() const { return _rotationalOffset; }    void setRotationalOffset(glm::quat rotationalOffset) { _rotationalOffset = rotationalOffset; }     bool getReleased() const { return _released; }    void setReleased(bool value) { _released = value; } protected:    QUuid _actionID; // if an action is created in bullet for this grab, this is the ID    QUuid _ownerID; // avatar ID of grabber    QUuid _targetID; // SpatiallyNestable ID of grabbed    int _parentJointIndex { -1 }; // which avatar joint is being used to grab    QString _hand; // "left" or "right"    glm::vec3 _positionalOffset; // relative to joint    glm::quat _rotationalOffset; // relative to joint    bool _released { false }; // released and scheduled for deletion};  #endif // hifi_Grab_h