libkido-dev 0.1.0+dfsg-2build9 / usr / include / kido / dynamics / MeshShape.hpp

/*
 * 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:
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 *   without modification, are permitted provided that the following
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#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_