rviz_interaction_tools: rviz_interaction_tools: mesh_object

00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include "rviz_interaction_tools/mesh_object_switcher.h"
00031 #include "rviz_interaction_tools/mesh_object.h"
00032 
00033 #include <OGRE/OgreMaterialManager.h>
00034 #include <OGRE/OgreTechnique.h>
00035 #include <OGRE/OgrePass.h>
00036 #include <OGRE/OgreEdgeListBuilder.h>
00037 
00038 
00039 namespace rviz_interaction_tools
00040 {
00041 
00042 MeshObjectSwitcher::MeshObjectSwitcher( std::string valid_mat_name,
00043     std::string valid_sel_mat_name,
00044     std::string invalid_mat_name,
00045     std::string invalid_sel_mat_name ) :
00046     visible_mesh_(-1),
00047     valid_(true),
00048     selected_(false),
00049     valid_mat_name_(valid_mat_name),
00050     valid_sel_mat_name_(valid_sel_mat_name),
00051     invalid_mat_name_(invalid_mat_name),
00052     invalid_sel_mat_name_(invalid_sel_mat_name)
00053 {
00054 }
00055 
00056 
00057 MeshObjectSwitcher::~MeshObjectSwitcher()
00058 {
00059 }
00060 
00061 
00062 void MeshObjectSwitcher::addObject( MeshObject* mesh_object )
00063 {
00064   mesh_object->setVisible(false);
00065   mesh_objects_.push_back( boost::shared_ptr<MeshObject>( mesh_object ) );
00066   updateMaterials();
00067 }
00068 
00069 
00070 void MeshObjectSwitcher::setSelected( bool selected )
00071 {
00072   selected_ = selected;
00073   updateMaterials();
00074 }
00075 
00076 void MeshObjectSwitcher::setValid( bool valid )
00077 {
00078   valid_ = valid;
00079   updateMaterials();
00080 }
00081 
00082 
00083 void MeshObjectSwitcher::setVisible( unsigned index )
00084 {
00085   if ( visible_mesh_ < mesh_objects_.size() )
00086   {
00087     ROS_INFO_STREAM( "Hiding mesh " << visible_mesh_ );
00088     mesh_objects_[visible_mesh_]->setVisible(false);
00089   }
00090 
00091   if ( index < mesh_objects_.size() )
00092   {
00093     ROS_INFO_STREAM( "Showing mesh " << index << "."
00094         << " Entity: " << mesh_objects_[index]->getEntity()->getName()
00095         << " Mesh: " << mesh_objects_[index]->getEntity()->getMesh()->getName()
00096         << " Triangles: " << mesh_objects_[index]->getEntity()->getMesh()->getEdgeList()->triangles.size()
00097         );
00098     mesh_objects_[index]->setVisible(true);
00099   }
00100 
00101   visible_mesh_ = index;
00102 }
00103 
00104 void MeshObjectSwitcher::next()
00105 {
00106   setVisible( (visible_mesh_ + 1) % mesh_objects_.size() );
00107 }
00108 
00109 void MeshObjectSwitcher::updateMaterials()
00110 {
00111   for ( unsigned i=0; i<mesh_objects_.size(); ++i )
00112   {
00113     if ( valid_ && selected_ )
00114     {
00115       mesh_objects_[i]->setMaterialName( valid_sel_mat_name_ );
00116     }
00117     else if ( valid_ )
00118     {
00119       mesh_objects_[i]->setMaterialName( valid_mat_name_ );
00120     }
00121     else if ( selected_ )
00122     {
00123       mesh_objects_[i]->setMaterialName( invalid_sel_mat_name_ );
00124     }
00125     else
00126     {
00127       mesh_objects_[i]->setMaterialName( invalid_mat_name_ );
00128     }
00129   }
00130 }
00131 
00132 }
mesh_object_switcher.cpp
