gl_mesh.cpp
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34 
35 /* Author: Suat Gedikli */
36 
39 #include <stdexcept>
40 #include <Eigen/Eigen>
41 
42 using namespace std;
43 using namespace Eigen;
44 using shapes::Mesh;
45 
46 mesh_filter::GLMesh::GLMesh(const Mesh& mesh, unsigned int mesh_label)
47 {
48  if (!mesh.vertex_normals)
49  throw std::runtime_error("Vertex normals are not computed for input mesh. Call computeVertexNormals() before "
50  "passing as input to mesh_filter.");
51 
52  mesh_label_ = mesh_label;
53  list_ = glGenLists(1);
54  glNewList(list_, GL_COMPILE);
55  glBegin(GL_TRIANGLES);
56  glColor4ubv((GLubyte*)&mesh_label_);
57  for (unsigned tIdx = 0; tIdx < mesh.triangle_count; ++tIdx)
58  {
59  unsigned v1 = 3 * mesh.triangles[3 * tIdx];
60  unsigned v2 = 3 * mesh.triangles[3 * tIdx + 1];
61  unsigned v3 = 3 * mesh.triangles[3 * tIdx + 2];
62 
63  glNormal3f(mesh.vertex_normals[v1], mesh.vertex_normals[v1 + 1], mesh.vertex_normals[v1 + 2]);
64  glVertex3f(mesh.vertices[v1], mesh.vertices[v1 + 1], mesh.vertices[v1 + 2]);
65 
66  glNormal3f(mesh.vertex_normals[v2], mesh.vertex_normals[v2 + 1], mesh.vertex_normals[v2 + 2]);
67  glVertex3f(mesh.vertices[v2], mesh.vertices[v2 + 1], mesh.vertices[v2 + 2]);
68 
69  glNormal3f(mesh.vertex_normals[v3], mesh.vertex_normals[v3 + 1], mesh.vertex_normals[v3 + 2]);
70  glVertex3f(mesh.vertices[v3], mesh.vertices[v3 + 1], mesh.vertices[v3 + 2]);
71  }
72  glEnd();
73  glEndList();
74 }
75 
77 {
78  glDeleteLists(list_, 1);
79 }
80 
81 void mesh_filter::GLMesh::render(const Affine3d& transform) const
82 {
83  glMatrixMode(GL_MODELVIEW);
84  glPushMatrix();
85  if (!(transform.matrix().Flags & RowMajorBit))
86  glMultMatrixd(transform.matrix().data());
87  else
88  glMultTransposeMatrixd(transform.matrix().data());
89  glCallList(list_);
90  glPopMatrix();
91 }
unsigned int * triangles
~GLMesh()
Destructor.
Definition: gl_mesh.cpp:76
double * vertex_normals
void render(const Eigen::Affine3d &transform) const
renders the mesh in current OpenGL frame buffer (context)
Definition: gl_mesh.cpp:81
unsigned int triangle_count
double * vertices
GLMesh(const shapes::Mesh &mesh, unsigned int mesh_label)
Constucts a GLMesh object for given mesh and label.
Definition: gl_mesh.cpp:46


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Wed Jul 18 2018 02:48:55