Mesh.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012-2015 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_MESH_HH_
#define _GAZEBO_MESH_HH_

#include <vector>
#include <string>

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

#include "gazebo/math/Vector3.hh"
#include "gazebo/math/Vector2d.hh"
#include "gazebo/common/CommonTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace common
  {
    class Material;
    class SubMesh;
    class Skeleton;


    class GZ_COMMON_VISIBLE Mesh
    {
      public: Mesh();

      public: virtual ~Mesh();

      public: void SetPath(const std::string &_path);

      public: std::string GetPath() const;

      public: void SetName(const std::string &_n);

      public: std::string GetName() const;

      public: math::Vector3 GetMax() const GAZEBO_DEPRECATED(6.0);

      public: ignition::math::Vector3d Max() const;

      public: math::Vector3 GetMin() const GAZEBO_DEPRECATED(6.0);

      public: ignition::math::Vector3d Min() const;

      public: unsigned int GetVertexCount() const;

      public: unsigned int GetNormalCount() const;

      public: unsigned int GetIndexCount() const;

      public: unsigned int GetTexCoordCount() const;

      public: void AddSubMesh(SubMesh *_child);

      public: unsigned int GetSubMeshCount() const;

      public: int AddMaterial(Material *_mat);

      public: unsigned int GetMaterialCount() const;

      public: const Material *GetMaterial(int _index) const;

      public: int GetMaterialIndex(const Material *_mat) const;

      public: const SubMesh *GetSubMesh(unsigned int _i) const;

      public: const SubMesh *GetSubMesh(const std::string &_name) const;

      public: void FillArrays(float **_vertArr, int **_indArr) const;

      public: void RecalculateNormals();

      public: void GetAABB(math::Vector3 &_center, math::Vector3 &_min_xyz,
                           math::Vector3 &_max_xyz) const
              GAZEBO_DEPRECATED(6.0);

      public: void GetAABB(ignition::math::Vector3d &_center,
                           ignition::math::Vector3d &_minXYZ,
                           ignition::math::Vector3d &_maxXYZ) const;

      public: void GenSphericalTexCoord(const math::Vector3 &_center)
              GAZEBO_DEPRECATED(6.0);

      public: void GenSphericalTexCoord(
                  const ignition::math::Vector3d &_center);

      public: Skeleton* GetSkeleton() const;

      public: void SetSkeleton(Skeleton *_skel);

      public: bool HasSkeleton() const;

      public: void Scale(double _factor);

      public: void SetScale(const math::Vector3 &_factor)
              GAZEBO_DEPRECATED(6.0);

      public: void SetScale(const ignition::math::Vector3d &_factor);

      public: void Center(const math::Vector3 &_center = math::Vector3::Zero)
              GAZEBO_DEPRECATED(6.0);

      public: void Center(const ignition::math::Vector3d &_center =
                  ignition::math::Vector3d::Zero);

      public: void Translate(const math::Vector3 &_vec) GAZEBO_DEPRECATED(6.0);

      public: void Translate(const ignition::math::Vector3d &_vec);

      private: std::string name;

      private: std::string path;

      private: std::vector<SubMesh *> submeshes;

      private: std::vector<Material *> materials;

      private: Skeleton *skeleton;
    };

    class GZ_COMMON_VISIBLE NodeAssignment
    {
      public: NodeAssignment();

      public: unsigned int vertexIndex;

      public: unsigned int nodeIndex;

      public: float weight;
    };

    class GZ_COMMON_VISIBLE SubMesh
    {
      public: enum PrimitiveType {POINTS, LINES, LINESTRIPS, TRIANGLES,
                TRIFANS, TRISTRIPS};

      public: SubMesh();

      public: SubMesh(const SubMesh *_mesh);

      public: virtual ~SubMesh();

      public: void SetName(const std::string &_n);

      public: std::string GetName() const;

      public: void SetPrimitiveType(PrimitiveType _type);

      public: PrimitiveType GetPrimitiveType() const;

      public: void CopyVertices(const std::vector<math::Vector3> &_verts)
              GAZEBO_DEPRECATED(6.0);

      public: void CopyVertices(
                  const std::vector<ignition::math::Vector3d> &_verts);

      public: void CopyNormals(const std::vector<math::Vector3> &_norms)
              GAZEBO_DEPRECATED(6.0);

      public: void CopyNormals(
                  const std::vector<ignition::math::Vector3d> &_norms);

      public: void SetVertexCount(unsigned int _count);

      public: void SetIndexCount(unsigned int _count);

      public: void SetNormalCount(unsigned int _count);

      public: void SetTexCoordCount(unsigned int _count);

      public: void AddIndex(unsigned int _i);

      public: void AddVertex(const math::Vector3 &_v) GAZEBO_DEPRECATED(6.0);

      public: void AddVertex(const ignition::math::Vector3d &_v);

      public: void AddVertex(double _x, double _y, double _z);

      public: void AddNormal(const math::Vector3 &_n) GAZEBO_DEPRECATED(6.0);

      public: void AddNormal(const ignition::math::Vector3d &_n);

      public: void AddNormal(double _x, double _y, double _z);

      public: void AddTexCoord(double _u, double _v);

      public: void AddNodeAssignment(unsigned int _vertex, unsigned int _node,
                                     float _weight);

      public: math::Vector3 GetVertex(unsigned int _i) const
              GAZEBO_DEPRECATED(6.0);

      public: ignition::math::Vector3d Vertex(unsigned int _i) const;

      public: void SetVertex(unsigned int _i, const math::Vector3 &_v)
              GAZEBO_DEPRECATED(6.0);

      public: void SetVertex(unsigned int _i,
                  const ignition::math::Vector3d &_v);

      public: math::Vector3 GetNormal(unsigned int _i) const
              GAZEBO_DEPRECATED(6.0);

      public: ignition::math::Vector3d Normal(unsigned int _i) const;

      public: void SetNormal(unsigned int _i, const math::Vector3 &_n)
              GAZEBO_DEPRECATED(6.0);

      public: void SetNormal(unsigned int _i,
                  const ignition::math::Vector3d &_n);

      public: math::Vector2d GetTexCoord(unsigned int _i) const
              GAZEBO_DEPRECATED(6.0);

      public: ignition::math::Vector2d TexCoord(unsigned int _i) const;

      public: NodeAssignment GetNodeAssignment(unsigned int _i) const;

      public: void SetTexCoord(unsigned int _i, const math::Vector2d &_t)
              GAZEBO_DEPRECATED(6.0);

      public: void SetTexCoord(unsigned int _i,
                               const ignition::math::Vector2d &_t);

      public: unsigned int GetIndex(unsigned int _i) const;

      public: math::Vector3 GetMax() const GAZEBO_DEPRECATED(6.0);

      public: ignition::math::Vector3d Max() const;

      public: math::Vector3 GetMin() const GAZEBO_DEPRECATED(6.0);

      public: ignition::math::Vector3d Min() const;

      public: unsigned int GetVertexCount() const;

      public: unsigned int GetNormalCount() const;

      public: unsigned int GetIndexCount() const;

      public: unsigned int GetTexCoordCount() const;

      public: unsigned int GetNodeAssignmentsCount() const;

      public: unsigned int GetMaxIndex() const;

      public: void SetMaterialIndex(unsigned int _index);

      public: unsigned int GetMaterialIndex() const;

      public: bool HasVertex(const math::Vector3 &_v) const
              GAZEBO_DEPRECATED(6.0);

      public: bool HasVertex(const ignition::math::Vector3d &_v) const;

      public: unsigned int GetVertexIndex(const math::Vector3 &_v) const
               GAZEBO_DEPRECATED(6.0);

      public: unsigned int GetVertexIndex(
                  const ignition::math::Vector3d &_v) const;

      public: void FillArrays(float **_vertArr, int **_indArr) const;

      public: void RecalculateNormals();

      public: void GenSphericalTexCoord(const math::Vector3 &_center)
              GAZEBO_DEPRECATED(6.0);

      public: void GenSphericalTexCoord(
                  const ignition::math::Vector3d &_center);

      public: void Scale(double _factor);

      public: void Center(const math::Vector3 &_center = math::Vector3::Zero)
              GAZEBO_DEPRECATED(6.0);

      public: void Center(const ignition::math::Vector3d &_center =
                  ignition::math::Vector3d::Zero);

      public: void Translate(const math::Vector3 &_vec) GAZEBO_DEPRECATED(6.0);

      public: void Translate(const ignition::math::Vector3d &_vec);

      public: void SetScale(const math::Vector3 &_factor)
              GAZEBO_DEPRECATED(6.0);

      public: void SetScale(const ignition::math::Vector3d &_factor);

      private: std::vector<ignition::math::Vector3d> vertices;

      private: std::vector<ignition::math::Vector3d> normals;

      private: std::vector<ignition::math::Vector2d> texCoords;

      private: std::vector<unsigned int> indices;

      private: std::vector<NodeAssignment> nodeAssignments;

      private: PrimitiveType primitiveType;

      private: int materialIndex;

      private: std::string name;
    };
  }
}

#endif