mesh.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <rve_transformer/transformer_manager.h>
#include <rve_transformer/frame_manager.h>
#include <rve_common_transformers/mesh.h>
#include <rve_properties/property_node.h>
#include <rve_properties/messages.h>
#include <rve_render_client/mesh_instance.h>
#include <rve_render_client/material.h>

#include <tf2/exceptions.h>
#include <ros/callback_queue.h>

#include <rve_msgs/make_vector3.h>
#include <rve_msgs/make_quaternion.h>
#include <rve_msgs/Mesh.h>
#include <rve_msgs/Material.h>
#include <rve_common/eigen_conversions.h>
#include <geometry_msgs/TransformStamped.h>

namespace rve_common_transformers
{

Mesh::Mesh()
{
}

Mesh::~Mesh()
{
  getPropertyNode()->removeChangeCallback(this);
}

void Mesh::onInit()
{
  rve_msgs::Vector3 v;
  rve_msgs::Quaternion q;
  q.w = 1.0;
  getPropertyNode()->get("position_offset", v, v);
  getPropertyNode()->get("orientation_offset", q, q);
  position_offset_ = rve_common::msgToEigen(v);
  orientation_offset_ = rve_common::msgToEigen(q);

  getPropertyNode()->get("resource", resource_);
  getPropertyNode()->get("frame", frame_);

  opacity_ = 1.0;
  getPropertyNode()->get("opacity", opacity_, opacity_);

  getPropertyNode()->addChangeCallback(boost::bind(&Mesh::onPropertyChanged, this, _1, _2, _3), this, getCallbackQueue());

  mesh_ = addObject(rve_render_client::createMeshInstance(resource_));

  rve_render_client::MeshPtr mesh = mesh_->getMesh();
  rve_msgs::MeshConstPtr msg = mesh->getMesh();
  for (size_t i = 0; i < msg->materials.size(); ++i)
  {
    rve_render_client::MaterialPtr mat = addObject(rve_render_client::createMaterial());
    rve_msgs::Material m = msg->materials[i];
    m.opacity = opacity_;
    mat->setMaterial(m);
    materials_.push_back(mat);
  }

  for (size_t i = 0; i < msg->submeshes.size(); ++i)
  {
    uint8_t mat_index = msg->submeshes[i].material_index;
    if (mat_index < msg->materials.size())
    {
      mesh_->setMaterial(mat_index, materials_[mat_index]);
    }
  }
}

void Mesh::onUpdate()
{
  try
  {
    geometry_msgs::TransformStamped transform = getManager()->getFrameManager()->lookupTransform(frame_, ros::Time());
    const geometry_msgs::Vector3& vm = transform.transform.translation;
    Eigen::Vector3f v(vm.x, vm.y, vm.z);
    v += position_offset_;
    mesh_->setPosition(rve_msgs::makeVector3(v.x(), v.y(), v.z()));
    const geometry_msgs::Quaternion& qm = transform.transform.rotation;
    Eigen::Quaternionf q(qm.w, qm.x, qm.y, qm.z);
    q *= orientation_offset_;
    mesh_->setOrientation(rve_msgs::makeQuaternion(q.x(), q.y(), q.z(), q.w()));
  }
  catch (tf2::TransformException& e)
  {
  }
}

void Mesh::onPropertyChanged(const rve_properties::PropertyNodePtr& node, const std::string& path, rve_properties::PropertyChangeType type)
{
  if (type != rve_properties::PropertyChanged)
  {
    return;
  }

  if (path == "opacity")
  {
    opacity_ = node->get<float>();
    for (size_t i = 0; i < materials_.size(); ++i)
    {
      const rve_render_client::MaterialPtr& mat = materials_[i];
      mat->setOpacity(opacity_);
    }
  }
}

} // namespace rve_common_transformers