gl_mesh.cpp

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/* Author: Suat Gedikli */

#include <moveit/mesh_filter/gl_mesh.h>
#include <geometric_shapes/shapes.h>
#include <stdexcept>
#include <Eigen/Eigen>

using namespace std;
using namespace Eigen;
using shapes::Mesh;

mesh_filter::GLMesh::GLMesh (const Mesh& mesh, unsigned int mesh_label)
{
  if (!mesh.vertex_normals)
    throw std::runtime_error("Vertex normals are not computed for input mesh. Call computeVertexNormals() before passing as input to mesh_filter.");

  mesh_label_ = mesh_label;
  list_ = glGenLists(1);
  glNewList (list_, GL_COMPILE );
    glBegin(GL_TRIANGLES);
    glColor4ubv ((GLubyte*)&mesh_label_);
      for (unsigned tIdx = 0; tIdx < mesh.triangle_count; ++tIdx)
      {
        unsigned v1 = 3 * mesh.triangles [3*tIdx];
        unsigned v2 = 3 * mesh.triangles [3*tIdx + 1];
        unsigned v3 = 3 * mesh.triangles [3*tIdx + 2];

        glNormal3f (mesh.vertex_normals[v1], mesh.vertex_normals[v1 + 1], mesh.vertex_normals[v1 + 2]);
        glVertex3f (mesh.vertices [v1], mesh.vertices[v1 + 1], mesh.vertices[v1 + 2]);

        glNormal3f (mesh.vertex_normals[v2], mesh.vertex_normals[v2 + 1], mesh.vertex_normals[v2 + 2]);
        glVertex3f (mesh.vertices[v2], mesh.vertices[v2 + 1], mesh.vertices [v2 + 2]);

        glNormal3f (mesh.vertex_normals[v3], mesh.vertex_normals[v3 + 1], mesh.vertex_normals[v3 + 2]);
        glVertex3f (mesh.vertices[v3], mesh.vertices[v3 + 1], mesh.vertices[v3 + 2]);
      }
    glEnd();
  glEndList();
}

mesh_filter::GLMesh::~GLMesh ()
{
  glDeleteLists(list_, 1);
}

void mesh_filter::GLMesh::render (const Affine3d& transform) const
{
  glMatrixMode (GL_MODELVIEW);
  glPushMatrix();
  if (!(transform.matrix ().Flags & RowMajorBit))
    glMultMatrixd (transform.matrix().data());
  else
    glMultTransposeMatrixd (transform.matrix().data());
  glCallList (list_);
  glPopMatrix();
}