VisualObject.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/core/optional_ref.h>
#include <mrpt/math/TBoundingBox.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/opengl/opengl_frwds.h>
#include <mrpt/poses/CPose3D.h>
#include <mvsim/Shape2p5.h>
#include <mvsim/basic_types.h>

#include <cstdint>
#include <memory>

namespace mvsim
{
class World;

class VisualObject
{
   public:
        VisualObject(
                World* parent, bool insertCustomVizIntoViz = true,
                bool insertCustomVizIntoPhysical = true);

        virtual ~VisualObject();

        virtual void guiUpdate(
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical);

        World* parent() { return world_; }
        const World* parent() const { return world_; }

        void customVisualVisible(const bool visible);
        bool customVisualVisible() const;

        const std::optional<Shape2p5>& collisionShape() const
        {
                return collisionShape_;
        }

        void showCollisionShape(bool show);

        static void FreeOpenGLResources();

        static double GeometryEpsilon;

   protected:
        bool parseVisual(const rapidxml::xml_node<char>& rootNode);
        bool parseVisual(const JointXMLnode<>& rootNode);

        World* world_;

        std::shared_ptr<mrpt::opengl::CSetOfObjects> glCustomVisual_;
        std::shared_ptr<mrpt::opengl::CSetOfObjects> glCollision_;
        int32_t glCustomVisualId_ = -1;

        const bool insertCustomVizIntoViz_ = true;
        const bool insertCustomVizIntoPhysical_ = true;

        virtual void internalGuiUpdate(
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical,
                bool childrenOnly = false) = 0;

        void addCustomVisualization(
                const mrpt::opengl::CRenderizable::Ptr& glModel,
                const mrpt::poses::CPose3D& modelPose = {},
                const float modelScale = 1.0f, const std::string& modelName = "group",
                const std::optional<std::string>& modelURI = std::nullopt,
                const bool initialShowBoundingBox = false);

        void setCollisionShape(const Shape2p5& cs) { collisionShape_ = cs; }

   private:
        std::optional<Shape2p5> collisionShape_;

        bool implParseVisual(const rapidxml::xml_node<char>& visual_node);
};
}  // namespace mvsim