Program Listing for File polygon_parts.hpp

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/* Author: David V. Lu!! */

#pragma once

#include <polygon_msgs/msg/polygon2_d.hpp>
#include <polygon_msgs/msg/complex_polygon2_d.hpp>
#include <OgreManualObject.h>
#include <OgreSceneManager.h>
#include <OgreSceneNode.h>
#include <rviz_common/properties/color_property.hpp>
#include <rviz_common/properties/enum_property.hpp>
#include <rviz_common/properties/float_property.hpp>
#include <rviz_common/properties/parse_color.hpp>
#include <std_msgs/msg/color_rgba.hpp>
#include <string>

namespace polygon_rviz_plugins
{
std_msgs::msg::ColorRGBA getColor(rviz_common::properties::ColorProperty* color_property,
                                  rviz_common::properties::FloatProperty* alpha_property = nullptr);

class PolygonOutline
{
public:
  PolygonOutline(Ogre::SceneManager& scene_manager, Ogre::SceneNode& scene_node);
  virtual ~PolygonOutline();

  void reset();

  void setPolygon(const polygon_msgs::msg::Polygon2D& polygon, const Ogre::ColourValue& color, double z_offset);

protected:
  Ogre::ManualObject* manual_object_;

  Ogre::SceneManager& scene_manager_;
  Ogre::SceneNode& scene_node_;
};

class PolygonFill
{
public:
  PolygonFill(Ogre::SceneManager& scene_manager, Ogre::SceneNode& scene_node, const std::string& material_name);
  virtual ~PolygonFill();

  void reset();

  void setPolygon(const polygon_msgs::msg::Polygon2D& polygon, const std_msgs::msg::ColorRGBA& color, double z_offset);

  void setPolygon(const polygon_msgs::msg::ComplexPolygon2D& polygon, const std_msgs::msg::ColorRGBA& color,
                  double z_offset);

protected:
  Ogre::ManualObject* manual_object_;
  unsigned int last_vertex_count_{0};

  Ogre::SceneManager& scene_manager_;
  Ogre::SceneNode& scene_node_;
  std::string material_name_;
};

class PolygonMaterial
{
public:
  PolygonMaterial();
  virtual ~PolygonMaterial();
  const std::string& getName() const
  {
    return name_;
  }

protected:
  std::string name_;
  Ogre::MaterialPtr material_;
};

class PolygonDisplayModeProperty
{
public:
  explicit PolygonDisplayModeProperty(rviz_common::properties::Property* parent);

  template <typename T>
  void connectProperties(T receiver, const char* changed_slot)
  {
    property_->connect(property_, SIGNAL(changed()), receiver, changed_slot);
  }

  bool shouldDrawOutlines() const
  {
    return getDisplayMode() != DisplayMode::FILLED;
  }
  bool shouldDrawFiller() const
  {
    return getDisplayMode() != DisplayMode::OUTLINE;
  }

protected:
  enum struct DisplayMode { OUTLINE, FILLED, FILLED_OUTLINE };
  DisplayMode getDisplayMode() const
  {
    return static_cast<DisplayMode>(property_->getOptionInt());
  }
  rviz_common::properties::EnumProperty* property_;
};

}  // namespace polygon_rviz_plugins