MeshManager.hh

Go to the documentation of this file.

/*
 * 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_COMMON_MESHMANAGER_HH_
#define GAZEBO_COMMON_MESHMANAGER_HH_

#include <utility>
#include <string>
#include <vector>

#include <ignition/math/Plane.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector2.hh>
#include <ignition/math/Vector3.hh>

#include "gazebo/common/SingletonT.hh"
#include "gazebo/common/CommonTypes.hh"
#include "gazebo/util/system.hh"

GZ_SINGLETON_DECLARE(GZ_COMMON_VISIBLE, gazebo, common, MeshManager)

namespace gazebo
{
  namespace common
  {
    // Forward declarations.
    class MeshManagerPrivate;
    class Mesh;
    class SubMesh;


    class GZ_COMMON_VISIBLE MeshManager : public SingletonT<MeshManager>
    {
      private: MeshManager();

      private: virtual ~MeshManager();

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

      public: void Export(const Mesh *_mesh, const std::string &_filename,
          const std::string &_extension, bool _exportTextures = false);

      public: bool IsValidFilename(const std::string &_filename);

      public: void GetMeshAABB(const Mesh *_mesh,
                  ignition::math::Vector3d &_center,
                  ignition::math::Vector3d &_min_xyz,
                  ignition::math::Vector3d &_max_xyz);

      public: void GenSphericalTexCoord(const Mesh *_mesh,
                  const ignition::math::Vector3d &_center);

      public: void AddMesh(Mesh *_mesh);

      public: const Mesh *GetMesh(const std::string &_name) const;

      public: bool HasMesh(const std::string &_name) const;

      public: void CreateSphere(const std::string &_name, float _radius,
                                int _rings, int _segments);

      public: void CreateBox(const std::string &_name,
                             const ignition::math::Vector3d &_sides,
                             const ignition::math::Vector2d &_uvCoords);

      public: void CreateExtrudedPolyline(const std::string &_name,
                  const std::vector<std::vector<ignition::math::Vector2d> >
                  &_vertices, double _height);

      public: void CreateCylinder(const std::string &_name,
                                  float _radius,
                                  float _height,
                                  int _rings,
                                  int _segments);

      public: void CreateCone(const std::string &_name,
                              float _radius,
                              float _height,
                              int _rings,
                              int _segments);

      public: void CreateTube(const std::string &_name,
                              float _innerRadius,
                              float _outterRadius,
                              float _height,
                              int _rings,
                              int _segments,
                              double _arc = 2.0 * M_PI);

      public: void CreatePlane(const std::string &_name,
                               const ignition::math::Planed &_plane,
                               const ignition::math::Vector2d &_segments,
                               const ignition::math::Vector2d &_uvTile);

      public: void CreatePlane(const std::string &_name,
                               const ignition::math::Vector3d &_normal,
                               const double _d,
                               const ignition::math::Vector2d &_size,
                               const ignition::math::Vector2d &_segments,
                               const ignition::math::Vector2d &_uvTile);

      private: void Tesselate2DMesh(SubMesh *_sm,
                                    int _meshWidth,
                                    int _meshHeight,
                                    bool _doubleSided);

      public: void CreateCamera(const std::string &_name, float _scale);

#ifdef HAVE_GTS
      public: void CreateBoolean(const std::string &_name, const Mesh *_m1,
          const Mesh *_m2, const int _operation,
          const ignition::math::Pose3d &_offset = ignition::math::Pose3d::Zero);
#endif

      private: static void ConvertPolylinesToVerticesAndEdges(
                   const std::vector<std::vector<ignition::math::Vector2d> >
                   &_polys,
                   double _tol,
                   std::vector<ignition::math::Vector2d> &_vertices,
                   std::vector<ignition::math::Vector2i> &_edges);

      private: static size_t AddUniquePointToVerticesTable(
                      std::vector<ignition::math::Vector2d> &_vertices,
                      const ignition::math::Vector2d &_p,
                      double _tol);

      private: friend class SingletonT<MeshManager>;

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