trianglemesh_visual.h

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/*
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 *  Robot Operating System code by the University of Osnabrück
 *  Copyright (c) 2015, University of Osnabrück
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 *  trianglemesh_visual.h
 *
 *
 *  authors:
 *
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *    Henning Deeken <hdeeken@uni-osnabrueck.de>
 *    Marcel Mrozinski
 *    Nils Oesting
 */
 
#ifndef TRIANGLEMESH_VISUAL_H
#define TRIANGLEMESH_VISUAL_H
 
#include <mesh_msgs/TriangleMeshStamped.h>
 
#include <rviz/display_context.h>
#include <rviz/frame_manager.h>
 
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreManualObject.h>
#include <OGRE/OgreEntity.h>
#include <OGRE/OgreMaterialManager.h>
#include <OGRE/OgreColourValue.h>
 
namespace Ogre
{
// Forward declaration
class Vector3;
class Quaternion;
class SceneNode;
class Entity;
 
}  // End namespace Ogre
 
namespace rviz_mesh_plugin
{
class TriangleMeshVisual
{
public:
  TriangleMeshVisual(rviz::DisplayContext* context, size_t displayID, size_t meshID, size_t randomID);
 
  virtual ~TriangleMeshVisual();
 
  void reset();
 
  void setMessage(const mesh_msgs::TriangleMeshStamped::ConstPtr& meshMsg);
 
  void setFramePosition(const Ogre::Vector3& position);
 
  void setFrameOrientation(const Ogre::Quaternion& orientation);
 
  void updateMaterial(bool showWireframe, Ogre::ColourValue wireframeColor, float wireframeAlpha, bool showFaces,
                      Ogre::ColourValue facesColor, float facesAlpha, bool useVertexColors, bool useTriangleColors,
                      bool showTextures, bool showNormals, Ogre::ColourValue normalsColor, float normalsAlpha,
                      float normalsScallingFactor);
 
  void updateNormals(float scallingFactor);
 
private:
  void showWireframe(Ogre::Pass* pass, Ogre::ColourValue wireframeColor, float wireframeAlpha);
 
  void showFaces(Ogre::Pass* pass, Ogre::ColourValue facesColor, float facesAlpha, bool useVertexColors);
 
  void showNormals(Ogre::Pass* pass, Ogre::ColourValue normalsColor, float normalsAlpha);
 
  void showTextures(Ogre::Pass* pass);
 
  void enteringGeneralTriangleMesh(const mesh_msgs::TriangleMesh& mesh);
  void enteringColoredTriangleMesh(const mesh_msgs::TriangleMesh& mesh);
  void enteringNormals(const mesh_msgs::TriangleMesh& mesh);
 
  bool m_vertex_normals_enabled;
  bool m_vertex_colors_enabled;
  bool m_triangle_colors_enabled;
  bool m_texture_coords_enabled;
 
  Ogre::SceneNode* m_sceneNode;
 
  rviz::DisplayContext* m_displayContext;
 
  size_t m_prefix;
 
  size_t m_postfix;
 
  size_t m_random;
 
  Ogre::ManualObject* m_mesh;
 
  Ogre::MaterialPtr m_meshGeneralMaterial;
 
  Ogre::MaterialPtr m_meshColoredTrianglesMaterial;
 
  Ogre::MaterialPtr m_normalMaterial;
 
  size_t m_textureCounter;
 
  bool m_hasTextures;
 
  std::map<size_t, Ogre::ColourValue> m_fakeTextures;
 
  float m_normalsScalingFactor;
};
}  // End namespace rviz_mesh_plugin
 
#endif