/usr/include/kido/dynamics/MeshShape.hpp is in libkido-dev 0.1.0+dfsg-2build9.
This file is owned by root:root, with mode 0o644.
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* Copyright (c) 2011-2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s):
* Date:
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* 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.
* 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 HOLDER 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 KIDO_DYNAMICS_MESHSHAPE_HPP_
#define KIDO_DYNAMICS_MESHSHAPE_HPP_
#include <string>
#include <assimp/scene.h>
#include "kido/dynamics/Shape.hpp"
#include "kido/common/ResourceRetriever.hpp"
namespace Assimp {
class IOSystem;
} // namespace Assimp
namespace kido {
namespace dynamics {
/// \brief
class MeshShape : public Shape {
public:
enum ColorMode
{
MATERIAL_COLOR = 0, ///< Use the colors specified by the Mesh's material
COLOR_INDEX, ///< Use the colors specified by aiMesh::mColor
SHAPE_COLOR, ///< Use the color specified by the Shape base class
};
/// \brief Constructor.
MeshShape(
const Eigen::Vector3d& _scale,
const aiScene* _mesh,
const std::string& _path = "",
const common::ResourceRetrieverPtr& _resourceRetriever = nullptr);
/// \brief Destructor.
virtual ~MeshShape();
/// \brief
const aiScene* getMesh() const;
/// Update positions of the vertices or the elements. By default, this does
/// nothing; you must extend the MeshShape class and implement your own
/// version of this function if you want the mesh data to get updated before
/// rendering
virtual void update();
// Documentation inherited
void setAlpha(double _alpha) override;
/// \brief
void setMesh(
const aiScene* _mesh,
const std::string& path = "",
const common::ResourceRetrieverPtr& _resourceRetriever = nullptr);
/// \brief URI to the mesh; an empty string if unavailable.
const std::string &getMeshUri() const;
/// \brief Path to the mesh on disk; an empty string if unavailable.
const std::string& getMeshPath() const;
/// \brief
void setScale(const Eigen::Vector3d& _scale);
/// \brief
const Eigen::Vector3d& getScale() const;
/// Set how the color of this mesh should be determined
void setColorMode(ColorMode _mode);
/// Get the coloring mode that this mesh is using
ColorMode getColorMode() const;
/// Set which entry in aiMesh::mColor should be used when the color mode is
/// COLOR_INDEX. This value must be smaller than AI_MAX_NUMBER_OF_COLOR_SETS.
/// If the color index is higher than what the mesh has available, then we
/// will use the highest index possible.
void setColorIndex(int _index);
/// Get the index that will be used when the ColorMode is set to COLOR_INDEX
int getColorIndex() const;
/// \brief
int getDisplayList() const;
/// \brief
void setDisplayList(int _index);
// Documentation inherited.
void draw(renderer::RenderInterface* _ri = nullptr,
const Eigen::Vector4d& _col = Eigen::Vector4d::Ones(),
bool _default = true) const override;
/// \brief
static const aiScene* loadMesh(const std::string& _fileName);
/// \brief
static const aiScene* loadMesh(
const std::string& _uri, const common::ResourceRetrieverPtr& _retriever);
// Documentation inherited.
Eigen::Matrix3d computeInertia(double mass) const override;
protected:
// Documentation inherited.
void updateVolume() override;
private:
/// \brief
void _updateBoundingBoxDim();
protected:
/// \brief
const aiScene* mMesh;
/// \brief URI the mesh, if available).
std::string mMeshUri;
/// \brief Path the mesh on disk, if available.
std::string mMeshPath;
/// \brief Optional method of loading resources by URI.
common::ResourceRetrieverPtr mResourceRetriever;
/// \brief OpenGL DisplayList id for rendering
int mDisplayList;
/// \brief Scale
Eigen::Vector3d mScale;
/// Specifies how the color of this mesh should be determined
ColorMode mColorMode;
/// Specifies which color index should be used when mColorMode is COLOR_INDEX
int mColorIndex;
public:
// To get byte-aligned Eigen vectors
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_MESHSHAPE_HPP_
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