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00037 #include <moveit/mesh_filter/gl_mesh.h>
00038 #include <geometric_shapes/shapes.h>
00039 #include <stdexcept>
00040 #include <Eigen/Eigen>
00041
00042 using namespace std;
00043 using namespace Eigen;
00044 using shapes::Mesh;
00045
00046 mesh_filter::GLMesh::GLMesh (const Mesh& mesh, unsigned int mesh_label)
00047 {
00048 if (!mesh.vertex_normals)
00049 throw std::runtime_error("Vertex normals are not computed for input mesh. Call computeVertexNormals() before passing as input to mesh_filter.");
00050
00051 mesh_label_ = mesh_label;
00052 list_ = glGenLists(1);
00053 glNewList (list_, GL_COMPILE );
00054 glBegin(GL_TRIANGLES);
00055 glColor4ubv ((GLubyte*)&mesh_label_);
00056 for (unsigned tIdx = 0; tIdx < mesh.triangle_count; ++tIdx)
00057 {
00058 unsigned v1 = 3 * mesh.triangles [3*tIdx];
00059 unsigned v2 = 3 * mesh.triangles [3*tIdx + 1];
00060 unsigned v3 = 3 * mesh.triangles [3*tIdx + 2];
00061
00062 glNormal3f (mesh.vertex_normals[v1], mesh.vertex_normals[v1 + 1], mesh.vertex_normals[v1 + 2]);
00063 glVertex3f (mesh.vertices [v1], mesh.vertices[v1 + 1], mesh.vertices[v1 + 2]);
00064
00065 glNormal3f (mesh.vertex_normals[v2], mesh.vertex_normals[v2 + 1], mesh.vertex_normals[v2 + 2]);
00066 glVertex3f (mesh.vertices[v2], mesh.vertices[v2 + 1], mesh.vertices [v2 + 2]);
00067
00068 glNormal3f (mesh.vertex_normals[v3], mesh.vertex_normals[v3 + 1], mesh.vertex_normals[v3 + 2]);
00069 glVertex3f (mesh.vertices[v3], mesh.vertices[v3 + 1], mesh.vertices[v3 + 2]);
00070 }
00071 glEnd();
00072 glEndList();
00073 }
00074
00075 mesh_filter::GLMesh::~GLMesh ()
00076 {
00077 glDeleteLists(list_, 1);
00078 }
00079
00080 void mesh_filter::GLMesh::render (const Affine3d& transform) const
00081 {
00082 glMatrixMode (GL_MODELVIEW);
00083 glPushMatrix();
00084 if (!(transform.matrix ().Flags & RowMajorBit))
00085 glMultMatrixd (transform.matrix().data());
00086 else
00087 glMultTransposeMatrixd (transform.matrix().data());
00088 glCallList (list_);
00089 glPopMatrix();
00090 }