gl_mesh.cpp
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00034 
00035 /* Author: Suat Gedikli */
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 }


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Wed Jan 17 2018 03:32:02