mesh.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
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 *     * 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"
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#include <rve_render_client/mesh.h>
#include <rve_render_client/client_context.h>
#include <rve_mesh_loader/loader.h>

#include <resource_retriever/retriever.h>

#include <rve_interfaces/Mesh.h>

#include <ros/assert.h>

#include <map>

namespace rve_render_client
{

typedef std::map<rve_common::UUID, MeshWPtr> M_Mesh;
M_Mesh g_meshes;

typedef std::map<std::string, rve_common::UUID> M_ResourceToID;
M_ResourceToID g_mesh_resource_to_id;

void destroyMesh(Mesh* mesh)
{
  while (!mesh->contexts_.empty())
  {
    ClientContext* context = mesh->contexts_.begin()->first;
    context->removeObject(mesh);
  }

  g_meshes.erase(mesh->getID());

  delete mesh;
}

MeshPtr createMesh(const rve_msgs::MeshConstPtr& msg)
{
  MeshPtr mesh(new Mesh(msg), destroyMesh);
  g_meshes.insert(std::make_pair(mesh->getID(), mesh));
  return mesh;
}

MeshPtr loadMesh(const std::string& resource_path)
{
  M_ResourceToID::iterator it = g_mesh_resource_to_id.find(resource_path);
  if (it != g_mesh_resource_to_id.end())
  {
    MeshPtr mesh = getMesh(it->second);
    if (mesh)
    {
      return mesh;
    }
    else
    {
      g_mesh_resource_to_id.erase(it);
    }
  }

  rve_msgs::MeshPtr mesh_msg(new rve_msgs::Mesh);
  rve_mesh_loader::load(resource_path, *mesh_msg);
  return createMesh(mesh_msg);
}

MeshPtr getMesh(const rve_common::UUID& id)
{
  M_Mesh::iterator it = g_meshes.find(id);
  if (it == g_meshes.end())
  {
    return MeshPtr();
  }

  return it->second.lock();
}

MeshPtr createMesh(ClientContext* context, const rve_msgs::MeshConstPtr& msg)
{
  MeshPtr mesh = createMesh(msg);
  context->addObject(mesh.get());
  return mesh;
}

Mesh::Mesh(const rve_msgs::MeshConstPtr& mesh)
: id_(rve_common::UUID::generate())
, mesh_(mesh)
{
}

void Mesh::create(ClientContext* context)
{
  ContextInfo info;
  info.context = context;
  info.proxy_index = context->lookupInterface("mesh");
  contexts_[context] = info;

  rve_interfaces::MeshProxy* proxy = context->getInterface<rve_interfaces::MeshProxy>(info.proxy_index);
  proxy->createAsync(getID(), *mesh_);
}

void Mesh::destroy(ClientContext* context)
{
  M_ContextInfo::iterator it = contexts_.find(context);
  ROS_ASSERT(it != contexts_.end());

  ContextInfo& info = it->second;
  rve_interfaces::MeshProxy* proxy = context->getInterface<rve_interfaces::MeshProxy>(info.proxy_index);
  proxy->destroyAsync(getID());
  contexts_.erase(it);
}

void Mesh::getDependencies(V_UUID& deps)
{
  // none of the materials used by the mesh are actually client-side materials... if that
  // changes (and it probably should), they need to get added as dependencies
}

} // namespace rve_render_client