Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029
00030
00031
00032
00033
00034
00035
00036
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 "
00050 "passing as input to mesh_filter.");
00051
00052 mesh_label_ = mesh_label;
00053 list_ = glGenLists(1);
00054 glNewList(list_, GL_COMPILE);
00055 glBegin(GL_TRIANGLES);
00056 glColor4ubv((GLubyte*)&mesh_label_);
00057 for (unsigned tIdx = 0; tIdx < mesh.triangle_count; ++tIdx)
00058 {
00059 unsigned v1 = 3 * mesh.triangles[3 * tIdx];
00060 unsigned v2 = 3 * mesh.triangles[3 * tIdx + 1];
00061 unsigned v3 = 3 * mesh.triangles[3 * tIdx + 2];
00062
00063 glNormal3f(mesh.vertex_normals[v1], mesh.vertex_normals[v1 + 1], mesh.vertex_normals[v1 + 2]);
00064 glVertex3f(mesh.vertices[v1], mesh.vertices[v1 + 1], mesh.vertices[v1 + 2]);
00065
00066 glNormal3f(mesh.vertex_normals[v2], mesh.vertex_normals[v2 + 1], mesh.vertex_normals[v2 + 2]);
00067 glVertex3f(mesh.vertices[v2], mesh.vertices[v2 + 1], mesh.vertices[v2 + 2]);
00068
00069 glNormal3f(mesh.vertex_normals[v3], mesh.vertex_normals[v3 + 1], mesh.vertex_normals[v3 + 2]);
00070 glVertex3f(mesh.vertices[v3], mesh.vertices[v3 + 1], mesh.vertices[v3 + 2]);
00071 }
00072 glEnd();
00073 glEndList();
00074 }
00075
00076 mesh_filter::GLMesh::~GLMesh()
00077 {
00078 glDeleteLists(list_, 1);
00079 }
00080
00081 void mesh_filter::GLMesh::render(const Affine3d& transform) const
00082 {
00083 glMatrixMode(GL_MODELVIEW);
00084 glPushMatrix();
00085 if (!(transform.matrix().Flags & RowMajorBit))
00086 glMultMatrixd(transform.matrix().data());
00087 else
00088 glMultTransposeMatrixd(transform.matrix().data());
00089 glCallList(list_);
00090 glPopMatrix();
00091 }