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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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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_