Program Listing for File mesh_shape.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * 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"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef RVIZ_RENDERING__OBJECTS__MESH_SHAPE_HPP_
#define RVIZ_RENDERING__OBJECTS__MESH_SHAPE_HPP_
#include "rviz_rendering/objects/shape.hpp"
#include "rviz_rendering/visibility_control.hpp"
#include "OgreManualObject.h"
#include "OgreSceneNode.h"
#include "OgreSceneManager.h"
#include "OgreVector.h"
namespace rviz_rendering
{
class MeshShape : public Shape
{
public:
RVIZ_RENDERING_PUBLIC
explicit MeshShape(Ogre::SceneManager * scene_manager, Ogre::SceneNode * parent_node = nullptr);
RVIZ_RENDERING_PUBLIC
~MeshShape() override;
RVIZ_RENDERING_PUBLIC
void estimateVertexCount(size_t vcount);
RVIZ_RENDERING_PUBLIC
void beginTriangles();
RVIZ_RENDERING_PUBLIC
void addVertex(const Ogre::Vector3 & position);
RVIZ_RENDERING_PUBLIC
void addVertex(const Ogre::Vector3 & position, const Ogre::Vector3 & normal);
RVIZ_RENDERING_PUBLIC
void addVertex(
const Ogre::Vector3 & position,
const Ogre::Vector3 & normal,
const Ogre::ColourValue & color);
RVIZ_RENDERING_PUBLIC
void addNormal(const Ogre::Vector3 & normal);
RVIZ_RENDERING_PUBLIC
void addColor(const Ogre::ColourValue & color);
RVIZ_RENDERING_PUBLIC
void addTriangle(unsigned int p1, unsigned int p2, unsigned int p3);
RVIZ_RENDERING_PUBLIC
void endTriangles();
RVIZ_RENDERING_PUBLIC
void clear();
RVIZ_RENDERING_PUBLIC
Ogre::ManualObject * getManualObject();
private:
// true in between calls to beginTriangles() and endTriangles()
bool started_;
Ogre::ManualObject * manual_object_;
};
} // namespace rviz_rendering
#endif // RVIZ_RENDERING__OBJECTS__MESH_SHAPE_HPP_