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
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 *
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 *     * 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"
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#include <rve_render_server/mesh_instance.h>
#include <rve_render_server/mesh.h>
#include <rve_render_server/submesh.h>
#include <rve_render_server/material.h>
#include <rve_render_server/init.h>
#include <rve_render_server/renderer.h>

#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreEntity.h>
#include <OGRE/OgreSubEntity.h>
#include <OGRE/OgreSceneNode.h>

#include <ros/types.h>
#include <ros/console.h>
#include <ros/assert.h>

namespace rve_render_server
{

MeshInstance::MeshInstance(const rve_common::UUID& id, Ogre::SceneManager* scene_manager, const MeshPtr& mesh)
: Renderable(id)
, scene_manager_(scene_manager)
, mesh_(mesh)
{
  std::stringstream ss;
  static size_t count = 0;
  ss << "MeshInstance" << count++;

  entity_ = scene_manager_->createEntity(ss.str(), mesh->getID().toString());
  scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
  scene_node_->attachObject(entity_);

  pick_id_ = getRenderer()->allocatePickID(this);
  Ogre::Vector4 pick_color(intToFloat4<Ogre::Vector4>(pick_id_));

  for (size_t i = 0; i < mesh->getSubMeshCount(); ++i)
  {
    rve_common::UUID mat_id = mesh->getSubMesh(i)->getMaterialID();
    entity_->getSubEntity(i)->setCustomParameter(Material::CustomParam_ObjectID, pick_color);

    if (!mat_id.isNull())
    {
      MaterialPtr mat = getRenderer()->getMaterial(mat_id);
      setMaterial(i, mat);
    }
  }
}

MeshInstance::~MeshInstance()
{
  M_Material::iterator it = mat_to_subs_.begin();
  M_Material::iterator end = mat_to_subs_.end();
  for (; it != end; ++it)
  {
    it->first->detachRenderable(this);
  }

  scene_manager_->destroyEntity(entity_);
  scene_manager_->destroySceneNode(scene_node_);

  getRenderer()->deallocatePickID(pick_id_);
}

void MeshInstance::setMaterial(const MaterialPtr& mat)
{
  M_Material::iterator it = mat_to_subs_.begin();
  M_Material::iterator end = mat_to_subs_.end();
  for (; it != end; ++it)
  {
    it->first->detachRenderable(this);
  }

  mat_to_subs_.clear();

  if (mat)
  {
    for (uint32_t i = 0; i < entity_->getNumSubEntities(); ++i)
    {
      Ogre::SubEntity* sub = entity_->getSubEntity(i);
      mat_to_subs_[mat].insert(sub);
      sub_to_mat_[sub] = mat;

      mat->attachRenderable(this, sub);
    }
  }
}

void MeshInstance::setMaterial(size_t submesh_index, const MaterialPtr& mat)
{
  ROS_ASSERT(submesh_index < entity_->getNumSubEntities());
  Ogre::SubEntity* sub = entity_->getSubEntity(submesh_index);
  M_SubEntityToMaterial::iterator subent_it = sub_to_mat_.find(sub);
  if (subent_it != sub_to_mat_.end())
  {
    const MaterialPtr& old_mat = subent_it->second;
    mat_to_subs_[old_mat].erase(sub);
  }

  sub_to_mat_[sub] = mat;
  mat_to_subs_[mat].insert(sub);
  mat->attachRenderable(this, sub);
}

void MeshInstance::onOgreMaterialChanged(const MaterialPtr& mat)
{
  M_Material::iterator it = mat_to_subs_.find(mat);
  if (it != mat_to_subs_.end())
  {
    const MaterialPtr& mat = it->first;
    S_OgreSubEntity::iterator sub_it = it->second.begin();
    S_OgreSubEntity::iterator sub_end = it->second.end();
    for (; sub_it != sub_end; ++sub_it)
    {
      Ogre::SubEntity* sub = *sub_it;
      sub->setMaterial(mat->getOgreMaterial());
    }
  }
}

Picked MeshInstance::translatePick(PickRenderValues id)
{
  ROS_ASSERT(id.id == pick_id_);
  return Picked(getID(), 0);
}

} // namespace rve_render_server