mesh_object.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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#ifndef MESH_OBJECT_CPP_
#define MESH_OBJECT_CPP_

#include <arm_navigation_msgs/Shape.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Point32.h>

#include <OGRE/OgrePrerequisites.h>
#include <OGRE/OgreEntity.h>

#include <string>

namespace rviz_interaction_tools
{

// holds a mesh constructed from a Shape message or a list of points
class MeshObject
{

public:

  struct Point {
    float x,y,z;
    float r,g,b,a;
  };

  MeshObject( Ogre::SceneManager* scene_manager, Ogre::SceneNode* scene_root );

  ~MeshObject();

  void setPose( const geometry_msgs::Pose& pose );

  void loadMesh( std::string name, const arm_navigation_msgs::Shape& mesh );

  //load mesh from a list of points, assuming that 3 consecutive points form a triangle
  void loadPoints( std::string name, const std::vector< geometry_msgs::Point32 > &points );

  void loadMesh( std::string name, const std::vector< Point > &vertices,
      const std::vector<unsigned> triangles = std::vector<unsigned>() );

  void setVisible( bool visible );

  void setMaterialName( std::string name );

  Ogre::Entity* getEntity() { return entity_; }

  void clear();

private:

  MeshObject( const MeshObject& );
  MeshObject& operator=( const MeshObject& );

  Ogre::SceneNode *scene_node_;
  Ogre::MeshPtr mesh_ptr_;
  Ogre::Entity* entity_;

  Ogre::SceneManager* scene_manager_;
  Ogre::SceneNode* scene_root_;
};

}

#endif /* MESH_OBJECT_CPP_ */