mesh_instance.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

#include <rve_render_client/mesh_instance.h>
#include <rve_render_client/material.h>
#include <rve_render_client/scene.h>
#include <rve_render_client/client_context.h>

#include <rve_interfaces/MeshInstance.h>
#include <rve_msgs/make_vector3.h>
#include <rve_msgs/Mesh.h>

#include <boost/bind.hpp>

namespace rve_render_client
{

MeshInstancePtr createMeshInstance(Scene* scene, const std::string& mesh_resource)
{
  MeshPtr mesh = loadMesh(mesh_resource);

  return createMeshInstance(scene, loadMesh(mesh_resource));
}

MeshInstancePtr createMeshInstance(const std::string& mesh_resource)
{
  MeshPtr mesh = loadMesh(mesh_resource);

  return createMeshInstance(loadMesh(mesh_resource));
}

MeshInstancePtr createMeshInstance(const MeshPtr& mesh)
{
  MeshInstancePtr inst(new MeshInstance(mesh), destroySceneObject);
  return inst;
}

MeshInstancePtr createMeshInstance(Scene* scene, const MeshPtr& mesh)
{
  MeshInstancePtr inst = createMeshInstance(mesh);
  scene->addObject(inst.get());
  return inst;
}

MeshInstance::MeshInstance(const MeshPtr& mesh)
 : mesh_(mesh)
{
  orientation_.w = 1.0;
  scale_ = rve_msgs::makeVector3(1.0, 1.0, 1.0);
  proxy_index_ = addProxy("mesh_instance");
}

MeshInstance::~MeshInstance()
{
}

rve_interfaces::MeshInstanceProxy* MeshInstance::getProxy(const ContextInfo& context)
{
  return SceneObject::getProxy<rve_interfaces::MeshInstanceProxy>(context, proxy_index_);
}

void MeshInstance::doCreate(ContextInfo& context)
{
  if (!context.context->hasObject(mesh_.get()))
  {
    context.context->addObject(mesh_.get());
  }

  rve_interfaces::MeshInstanceProxy* proxy = getProxy(context);
  proxy->create(getSceneID(context.scene), getID(), mesh_->getID());

  rve_common::UUID scene_id = getSceneID(context.scene);
  proxy->setPositionAsync(scene_id, getID(), position_);
  proxy->setOrientationAsync(scene_id, getID(), orientation_);
  proxy->setScaleAsync(scene_id, getID(), scale_);

  {
    M_Material::iterator it = materials_.begin();
    M_Material::iterator end = materials_.end();
    for (; it != end; ++it)
    {
      proxy->setMaterialForSubMesh(scene_id, getID(), it->first, it->second->getID());
    }
  }
}

void MeshInstance::doDestroy(ContextInfo& context)
{
  rve_interfaces::MeshInstanceProxy* proxy = getProxy(context);
  proxy->destroyAsync(getSceneID(context.scene), getID());
}

void MeshInstance::getContextDependencies(V_UUID& deps)
{
  M_Material::iterator it = materials_.begin();
  M_Material::iterator end = materials_.end();
  for (; it != end; ++it)
  {
    const MaterialPtr& mat = it->second;
    deps.push_back(mat->getID());
  }
}

#define MESH_INSTANCE_MULTIPLEX(func, ...) \
    multiplex<rve_interfaces::MeshInstanceProxy>(boost::bind(&rve_interfaces::MeshInstanceProxy::func, _1, _2, getID(), __VA_ARGS__), proxy_index_);

void MeshInstance::setPosition(const rve_msgs::Vector3& pos)
{
  position_ = pos;
  MESH_INSTANCE_MULTIPLEX(setPositionAsync, pos);
}

void MeshInstance::setOrientation(const rve_msgs::Quaternion& orient)
{
  orientation_ = orient;
  MESH_INSTANCE_MULTIPLEX(setOrientationAsync, orient);
}

void MeshInstance::setScale(const rve_msgs::Vector3& scale)
{
  scale_ = scale;
  MESH_INSTANCE_MULTIPLEX(setScaleAsync, scale);
}

void MeshInstance::setMaterial(const MaterialPtr& mat)
{
  materials_.clear();
  for (size_t i = 0; i < mesh_->getMesh()->submeshes.size(); ++i)
  {
    materials_[i] = mat;
  }

  MESH_INSTANCE_MULTIPLEX(setMaterialAsync, mat->getID());
}

void MeshInstance::setMaterial(uint32_t submesh_index, const MaterialPtr& mat)
{
  materials_[submesh_index] = mat;
  MESH_INSTANCE_MULTIPLEX(setMaterialForSubMeshAsync, submesh_index, mat->getID());
}

} // namespace rviz_render_client