ColladaLoader.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef _GAZEBO_COLLADALOADER_HH_
#define _GAZEBO_COLLADALOADER_HH_

#include <string>
#include <vector>
#include <map>

#include <ignition/math/Matrix4.hh>
#include <ignition/math/Vector3.hh>
#include <ignition/math/Vector2.hh>

#include "gazebo/common/MeshLoader.hh"
#include "gazebo/util/system.hh"

class TiXmlElement;

namespace gazebo
{
  namespace common
  {
    class Material;
    class ColladaLoaderPrivate;


    class GZ_COMMON_VISIBLE ColladaLoader : public MeshLoader
    {
      public: ColladaLoader();

      public: virtual ~ColladaLoader();

      public: virtual Mesh *Load(const std::string &_filename);

      private: void LoadController(TiXmlElement *_contrXml,
          const std::vector<TiXmlElement*> &rootNodeXmls,
          const ignition::math::Matrix4d &_transform, Mesh *_mesh);

      private: void LoadAnimations(TiXmlElement *_xml, Skeleton *_skel);

      private: void LoadAnimationSet(TiXmlElement *_xml, Skeleton *_skel);

      private: SkeletonNode* LoadSingleSkeletonNode(TiXmlElement *_xml,
                                               SkeletonNode *_parent);

      private: SkeletonNode* LoadSkeletonNodes(TiXmlElement *_xml,
                                               SkeletonNode *_parent);

      private: void SetSkeletonNodeTransform(TiXmlElement *_elem,
                                             SkeletonNode *_node);

      private: void LoadGeometry(TiXmlElement *_xml,
                   const ignition::math::Matrix4d &_transform, Mesh *_mesh);

      private: TiXmlElement *GetElementId(TiXmlElement *_parent,
                                          const std::string &_name,
                                          const std::string &_id);

      private: TiXmlElement *GetElementId(const std::string &_name,
                                           const std::string &_id);

      private: void LoadNode(TiXmlElement *_elem, Mesh *_mesh,
                   const ignition::math::Matrix4d &_transform);

      private: ignition::math::Matrix4d LoadNodeTransform(TiXmlElement *_elem);

      private: void LoadVertices(const std::string &_id,
         const ignition::math::Matrix4d &_transform,
         std::vector<ignition::math::Vector3d> &_verts,
         std::vector<ignition::math::Vector3d> &_norms);

      private: void LoadVertices(const std::string &_id,
         const ignition::math::Matrix4d &_transform,
         std::vector<ignition::math::Vector3d> &_verts,
         std::vector<ignition::math::Vector3d> &_norms,
         std::map<unsigned int, unsigned int> &_vertDup,
         std::map<unsigned int, unsigned int> &_normDup);

      private: void LoadPositions(const std::string &_id,
          const ignition::math::Matrix4d &_transform,
          std::vector<ignition::math::Vector3d> &_values,
          std::map<unsigned int, unsigned int> &_duplicates);

      private: void LoadNormals(const std::string &_id,
          const ignition::math::Matrix4d &_transform,
          std::vector<ignition::math::Vector3d> &_values,
          std::map<unsigned int, unsigned int> &_duplicates);

      private: void LoadTexCoords(const std::string &_id,
          std::vector<ignition::math::Vector2d> &_values,
          std::map<unsigned int, unsigned int> &_duplicates);

      private: Material *LoadMaterial(const std::string &_name);

      private: void LoadColorOrTexture(TiXmlElement *_elem,
                                       const std::string &_type,
                                       Material *_mat);

      private: void LoadTriangles(TiXmlElement *_trianglesXml,
                                   const ignition::math::Matrix4d &_transform,
                                   Mesh *_mesh);

      private: void LoadPolylist(TiXmlElement *_polylistXml,
                                   const ignition::math::Matrix4d &_transform,
                                   Mesh *_mesh);

      private: void LoadLines(TiXmlElement *_xml,
                               const ignition::math::Matrix4d &_transform,
                               Mesh *_mesh);

      private: void LoadScene(Mesh *_mesh);

      private: float LoadFloat(TiXmlElement *_elem);

      private: void LoadTransparent(TiXmlElement *_elem, Material *_mat);

      private: void MergeSkeleton(Skeleton *_skeleton,
          SkeletonNode *_mergeNode);

      private: void ApplyInvBindTransform(Skeleton *_skeleton);

      private: ColladaLoaderPrivate *dataPtr;
    };
  }
}
#endif