points_renderer.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * 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"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef RVE_RENDER_SERVER_POINTS_RENDERER_H
#define RVE_RENDER_SERVER_POINTS_RENDERER_H

#include <OGRE/OgreSimpleRenderable.h>
#include <OGRE/OgreMaterial.h>

#include "batch_renderer.h"
#include "batch_renderable.h"
#include "points_renderer_desc.h"

#include <ros/message_forward.h>

namespace Ogre
{
class SceneManager;
class SceneNode;
}

namespace rve_msgs
{
ROS_DECLARE_MESSAGE(Points);
}

namespace rve_render_server
{

class PointsRenderer;
class PointsRenderable : public BatchRenderable<PointsRenderable, PointsRendererDesc>
{
  typedef BatchRenderable<PointsRenderable, PointsRendererDesc> Parent;

public:
  PointsRenderable(const PointsRendererDesc& desc, bool alpha);
  ~PointsRenderable();

  void add(const rve_common::UUID& id, const rve_msgs::Points& points, uint32_t start, uint32_t& out_start, uint32_t& out_count);
  void remove(uint32_t start, uint32_t count);

  uint32_t getElementsPerVBO();

  virtual Picked translatePick(PickRenderValues id);

private:
  uint32_t getVerticesPerPoint();
  float* getVertices();
  float* getNormals();
  uint32_t getPointStride();

  bool supports_geometry_programs_;
  bool needs_offsets_;
  bool needs_normals_;

  struct PointsInfo
  {
    rve_common::UUID id;
    int32_t offset;
    uint32_t begin;
    uint32_t end;
  };
  typedef std::vector<PointsInfo> V_PointsInfo;
  V_PointsInfo points_info_;
};
typedef boost::shared_ptr<PointsRenderable> PointsRenderablePtr;
typedef std::vector<PointsRenderablePtr> V_PointsRenderable;

class PointsRenderer : public BatchRenderer<PointsRenderer, rve_msgs::Points, PointsRenderable, PointsRendererDesc>
{
  typedef BatchRenderer<PointsRenderer, rve_msgs::Points, PointsRenderable, PointsRendererDesc> Parent;

public:
  PointsRenderer(Ogre::SceneManager* scene_manager, const PointsRendererDesc& desc);

  std::pair<Ogre::MaterialPtr, Ogre::MaterialPtr> createMaterials(const PointsRendererDesc& desc);
  size_t getInputCount(const rve_msgs::Points& points);
};

} // namespace rve_render_server

#endif // RVE_RENDER_SERVER_POINTS_RENDERER_H